Browsing Electronic Theses, Dissertations, and Records of Study (2002– ) by Author "Ma, Wenlong"

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    • Flat-Foot Dynamic Walking via Human-Inspired Controller Design 
      Ma, Wenlong (2014-05-05)
      This thesis describes a torque control scheme unifying feedback PD control and feed-forward impedance control to realize human-inspired walking on a novel planar footed bipedal robot: AMBER2. It starts with high fidelity ...