@inproceedings{62ad6d2de6774171a4385f8ddef05047,
title = "A hybrid mechatronic tilting robot: Modeling, trajectories, and control",
abstract = "Tilting around the foot edges is rarely considered in the modeling of walking robots. This paper uses a hybrid modeling framework to account for diφerent possible ground contact situations of a robot foot. Heuristic trajectory planning is discussed for a robot with φve joints and two feet and a method to compensate deφciencies of the planned trajectories by controlling the ZMP is introduced.",
keywords = "Hybrid systems, Trajectory planning",
author = "Marion Sobotka and Martin Buss",
year = "2005",
doi = "10.3182/20050703-6-cz-1902.00325",
language = "English",
isbn = "008045108X",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
pages = "241--246",
booktitle = "Proceedings of the 16th IFAC World Congress, IFAC 2005",
}