publication . Doctoral thesis . 2018

Bioinspired template-based control of legged locomotion

Ahmad Sharbafi, Maziar;
Open Access English
  • Published: 01 Jan 2018
  • Country: Germany
cient and robust locomotion is a crucial condition for the more extensive use of legged robots in real world applications. In that respect, robots can learn from animals, if the principles underlying locomotion in biological legged systems can be transferred to their artificial counterparts. However, legged locomotion in biological systems is a complex and not fully understood problem. A great progress to simplify understanding locomotion dynamics and control was made by introducing simple models, coined ``templates'', able to represent the overall dynamics of animal (including human) gaits. One of the most recognized models is the spring-loaded inverted pendulu...
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Funded by
Balance Augmentation in Locomotion, through Anticipative, Natural and Cooperative control of Exoskeletons.
  • Funder: European Commission (EC)
  • Project Code: 601003
  • Funding stream: FP7 | SP1 | ICT
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Doctoral thesis . 2018
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