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Learning control of bipedal dynamic walking robots with neural networks
(Massachusetts Institute of Technology, 1998)
Stability and robustness are two important performance requirements for a dynamic walking robot. Learning and adaptation can improve stability and robustness. This thesis explores such an adaptation capability through the ...
Stable locomotion control of bipedal walking robots : synchronization with neural oscillators and switching control
(Massachusetts Institute of Technology, 2000)
Two novel approaches to stable legged locomotion control (neural-oscillator based control and switching control) are studied for achieving bipedal locomotion stability. Postural stability is realized by structural dynamics ...
Stable force reflecting control of a telerobotic surgery system with time delay
(Massachusetts Institute of Technology, 1996)