A Survey of the Research on Control Methods for Biped Running Robot
HUANG Yuan-lin1,2, FU Cheng-long1, WANG Jian-mei1, CHEN Ken1
1. Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China; 2. School of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China
黄元林, 付成龙, 王健美, 陈恳. 双足跑步机器人控制方法研究概述[J]. 机器人, 2009, 31(4): 370-377..
HUANG Yuan-lin, FU Cheng-long, WANG Jian-mei, CHEN Ken. A Survey of the Research on Control Methods for Biped Running Robot. ROBOT, 2009, 31(4): 370-377..
Abstract:This paper reviews the research history,contents and future directions of biped running robot.A systematic introduction about biped running platforms is given first.Then the control strategies and determining method for stability criterion of biped running are summarized and discussed,and the running gait mode planning and its transition with walk are also introduced.Finally,the future research work about biped running robot is discussed.
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