This thesis aims to provide a framework for modeling, analysis, andefficient control of walking robots. The framework uses a port-Hamiltoniansystem description to express the dynamics of rigid mechanisms andtheir interaction with the ground. The structure of the resultingmodels forms the basis for the development of general analysis andcontrol techniques.
CITATION STYLE
Duindam, V. (2006). Port-based modeling and control for efficient bipedal walking robots (p. ).
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