E-Dissertationen: Browsing E-Dissertationen by Subject "Balancekontrolle"
Now showing items 1-2 of 2
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Analytic and Learned Footstep Control for Robust Bipedal Walking
Missura, Marcell (2016-02-24)Bipedal walking is a complex, balance-critical whole-body motion with inherently unstable inverted pendulum-like dynamics. Strong disturbances must be quickly responded to by altering the walking motion and placing the ... -
Analytic Bipedal Walking with Fused Angles and Corrective Actions in the Tilt Phase Space
Allgeuer, Philipp (2020-12-15)As humanoid robots start to move from research labs to workplace environments and homes, the topic of how they should best and most reliably locomote in the face of unknown disturbances will be a topic of increasing ...