Generating 1-DOF limit cycle walking at target walking speed by feed-forward and feedback limit cycle control
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DOI: 10.1007/s11044-017-9568-5
Abstract: We propose the feed-forward and feedback (FaF) control systems for generating the limit cycle walking at a target walking speed by the combined rimless wheel (CRW) model. The proposed FaF control systems can calculate a… read more here.
Keywords: limit cycle; speed; control; target walking ... See more keywords
Analysis of steady and target walking speeds in limit cycle walking
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Dynamics and Control"
DOI: 10.1007/s40435-015-0212-z
Abstract: This paper presents the mathematical analysis of steady walking speed and target walking speed generation in 1-DOF limit cycle walking driven by time-settling control inputs. An actuated combined rimless wheel (CRW) model is introduced to… read more here.
Keywords: target walking; analysis; control; period ... See more keywords