Exploiting ankle torque for orbital stabilization in biped robots; a hybrid zero dynamics approach

Hamid Sadeghian, Christian Ott, Gordon Cheng. Exploiting ankle torque for orbital stabilization in biped robots; a hybrid zero dynamics approach. In 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016, Cancun, Mexico, November 15-17, 2016. pages 870-875, IEEE, 2016. [doi]

Abstract

Abstract is missing.