A Momentum-Based Foot Placement Strategy for Stable Postural Control of Robotic Spring-Mass Running with Point Feet
Gorkem Secer,Ali Levent Cinar,Gorkem Secer,Ali Levent Cinar
A long-standing argument in model-based control of locomotion is about the level of complexity that a model should have to define a behavior such as running. Even though a goldilocks model based on biomechanical evidence is often sought, it is unclear what level of complexity qualifies to be such a model. This dilemma deepens further for bipedal robotic running with point feet, since these robots ...
