Evaluation of a Reduced Order Model for Quadruped System and Proposition of a Walking Control Method Using Quasi-Angular-Momentum
Volume: 5, Issue: 6, Pages: 582 - 584
Published: Dec 20, 1993
Abstract
By using a stable quantity ‘Quasi-Angular-Momentum’ which represent a state of quadruped walking system, we evaluated the degree of approximation of reduced order model which we derived. We also proposed a control method in which the quasi-angular-momentum is kept...
Paper Details
Title
Evaluation of a Reduced Order Model for Quadruped System and Proposition of a Walking Control Method Using Quasi-Angular-Momentum
Published Date
Dec 20, 1993
Volume
5
Issue
6
Pages
582 - 584
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