Legged locomotion : Balance, control and tools - from equation to action
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 how walking machines arecontrol...
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| Format: | Doctoral Thesis |
| Language: | English |
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KTH, Maskinkonstruktion
2003
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| Online Access: | http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3510 http://nbn-resolving.de/urn:isbn: |