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Dynamic trajectory control of passing over stairs by a biped type leg-wheeled robot with nominal reference of static gait

Osamu Matsumoto, Shuuji Kajita, Muneharu Saigo, Kazuo Tani. Dynamic trajectory control of passing over stairs by a biped type leg-wheeled robot with nominal reference of static gait. In Proceedings 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications, October 13-17, 1998, Victoria, BC, Canada. pages 406-412, IEEE, 1998. [doi]

Authors

Osamu Matsumoto

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Shuuji Kajita

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Muneharu Saigo

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Kazuo Tani

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