User: Guest  Login
Document type:
Zeitschriftenaufsatz 
Author(s):
Sygulla, Felix; Rixen, Daniel 
Title:
A Force Control Scheme for Biped Robots to Walk over Uneven Terrain Including Partial Footholds 
Abstract:
The robustness of biped walking in unknown and uneven terrains is still a major challenge in research. Traversing such environments is usually solved through vision-based reasoning on footholds and feedback loops — such as ground force control. Uncertain terrains are still traversed slowly to keep inaccuracies in the perceived environment model low. In this article, we present a ground-force control scheme that allows for fast traversal of uneven terrain — including unplanned partial footholds —...    »
 
Keywords:
lola 
Journal title:
Preprint - submitted for publication 
Year:
2019 
Status:
Preprint / submitted