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Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints

Matthew J. Powell, Aaron D. Ames. Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints. In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, South Korea, October 9-14, 2016. pages 555-560, IEEE, 2016. [doi]

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Matthew J. Powell

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Aaron D. Ames

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