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Filtering by: Creator Gamroth, M. J. (Michael J.) Creator Green, Kevin License All rights reserved Non-Academic Affiliation Oregon State University. Collaborative Robotics and Intelligent Systems (CoRIS) Institute

Agile Bipedal Locomotion via Hierarchical Control by Incorporating Physical Principles, Learning, and Optimization

Creator:

Green, Kevin

Abstract:

Robotic Bipedal locomotion holds the potential for efficient, robust traversal of difficult terrain. The difficulty lies in the dynamics of locomotion which complicate control and motion planning. Bipedal locomotion dynamics are dimensionally large problems, extremely nonlinear, and operate on the limits of actuator capabilities, which limit the performance of generic...

Resource Type:

Dissertation

Full Text:

equation, M(q)q̈ + C(q, q̇)q̇ + g(q) = Bτ + JTc λ+ J T f f (1.1) we can see the linearity in generalized

ScholarsArchive@OSU

Agile Bipedal Locomotion via Hierarchical Control by Incorporating Physical Principles, Learning, and Optimization

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