Browsing by Subject "Humanoid"
Now showing items 1-2 of 2
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(2012-12-10)The thesis shows how to achieve bipedal robotic walking on flat-ground, up-slope and rough terrain by using Human-Inspired control. We begin by considering human walking data and find outputs (or virtual constraints) that, ...
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(2014-12-16)This thesis presents an application of hybrid zero dynamics to realize underactuated bipedal walking on DURUS, a testbed designed and built by SRI International. The main contribution of this work is the ideal model resolved ...