Stable walking on variable visco-elastic terrains using meta-parameters for passive state migration

This paper investigates how a walker could estimate the variability of an arbitrary set of state variables when migrating on visco-elastic grounds. The state variables are a function of both the visco-elastic settings of the walking body and soft terrain parameters. A rimless wheel model was develop...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Pereno, Valerio, Shoar, Kya, Bartoli, Giulia, Bianchi, Fabio, Nanayakkara, Thrishantha
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Force Impedance Legged locomotion Mathematical model Stability analysis Surface impedance Wheels
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