@inproceedings{be472edd46974cac8ebc43c21f563942,
title = "Dynamic walking on uneven terrains with passivity-based bipedal robots",
abstract = "In this paper, we present an approach for passivity-based bipedal robots to achieve stable dynamic walking on uneven terrain. A powered two-dimensional seven-link walking model with flat feet and compliant ankles has been proposed to analyze and simulate the walking dynamics. We further describe a Particle Swarm Optimization based method, which uses optimized hip actuation and ankle compliance as control parameters of bipedal walking. Satisfactory results of simulations and real robot experiments show that the passivity-based walker can achieve stable bipedal walking with larger ground disturbance by the proposed method in view of stability and efficiency.",
keywords = "Bipedal robots, Modeling, Passive dynamic walking, Stability, Uneven terrains",
author = "Qining Wang and Yan Huang and Jinying Zhu and Baojun Chen and Long Wang",
year = "2011",
doi = "10.1007/978-3-642-19730-7_13",
language = "English",
isbn = "9783642197291",
series = "Lecture Notes in Electrical Engineering",
pages = "187--199",
booktitle = "Informatics in Control Automation and Robotics - Revised and Selected Papers from the International Conference on Informatics in Control Automation and Robotics 2009",
note = "6th International Conference on Informatics in Control Automation and Robotics, ICINCO 2009 ; Conference date: 02-07-2009 Through 05-07-2009",
}