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Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning

Xiaobin Xiong, Jenna Reher, Aaron D. Ames. Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning. In IEEE International Conference on Robotics and Automation, ICRA 2021, Xi'an, China, May 30 - June 5, 2021. pages 2825-2831, IEEE, 2021. [doi]

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Xiaobin Xiong

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Jenna Reher

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Aaron D. Ames

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