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Evaluation of decentralized reactive swing-leg control on a powered robotic leg
2015
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Animals and robots balance dynamically by placing their feet into proper ground targets. While foot placement controls exist for both fully robotic systems and powered prostheses, none enable the dynamism and reactiveness of ablebodied humans. A control approach was recently developed for an ideal double pendulum dynamical system that places feet into ground targets for a wide range of initial conditions and in the presence of significant locomotion disturbances. While its performance in
doi:10.1109/iros.2015.7353401
dblp:conf/iros/SchepelmannAG15
fatcat:lxcqghokp5d6tf7ehc6lhjdpse