Line Walking and Balancing for Legged Robots with Point Feet
Carlos Gonzalez,Victor Barasuol,Marco Frigerio,Roy Featherstone,Darwin G. Caldwell,Claudio Semini,Carlos Gonzalez,Victor Barasuol,Marco Frigerio,Roy Featherstone,Darwin G. Caldwell,Claudio Semini
The ability of legged systems to traverse highly- constrained environments depends by and large on the performance of their motion and balance controllers. This paper presents a controller that excels in a scenario that most state- of-the-art balance controllers have not yet addressed: line walking, or walking on nearly null support regions. Our approach uses a low-dimensional virtual model (2-DoF...
