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Practical bipedal walking control on uneven terrain using surface learning and push recovery
2011
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Bipedal walking in human environments is made difficult by the unevenness of the terrain and by external disturbances. Most approaches to bipedal walking in such environments either rely upon a precise model of the surface or special hardware designed for uneven terrain. In this paper, we present an alternative approach to stabilize the walking of an inexpensive, commercially-available, position-controlled humanoid robot in difficult environments. We use electrically compliant swing foot
doi:10.1109/iros.2011.6048731
fatcat:yymaa7qtznhv3lhm33jfxlnxkq