Simulation of a simple 3-link, 5-degree-of-freedom "compass-gait" biped with a torso walking dynamically in a circle based on reduction-based control. This method builds 3-D dynamic walking gaits based on the sagittal-plane subsystem, where constrained passivity-based dynamic walking gaits are known to exist. Created by Robert Gregg at the University of Illinois at Urbana-Champaign.
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