Legged locomotion : Balance, control and tools - from equation to action

Doctoral thesis English OPEN
Ridderström, Christian;
  • Publisher: Stockholm : Maskinkonstruktion
  • Subject: legged locomotion | control | balance | legged machines | legged robots | walking robots | walking machines | compliance | platform stability

This thesis is about control and balance stability of leggedlocomotion. It also presents a combination of tools that makesit easier to design controllers for large and complicated robotsystems. The thesis is divided into four parts. The first part studies and analyzes h... View more
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