Morphological self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion

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Chevallereau , Christine; Boyer , Frédéric; Porez , Mathieu; Mauny , Johan; Aoustin , Yannick;
(2017)
  • Publisher: IOP Publishing
  • Related identifiers: doi: 10.1088/1748-3190/aa728f
  • Subject: [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO] | [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]

International audience; — To a large extent, robotics locomotion can be viewed as cyclic motions, named gaits. Due to the high complexity of the locomotion dynamics, to find the control laws that ensure an expected gait and its stability with respect to external perturb... View more
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