@inproceedings{bd7530310fd44972ab6bad9e87212d51,
title = "Research and development towards an autonomous biped walking robot",
abstract = "Methods for modeling, simulation and optimization of the dynamics, stability, and performance of humanoid robots are presented in this paper. Optimal control trajectory following by joint-level control combined with an online compensation method using Jacobians is proposed. The kinematic design, dynamic properties, hard- and software architecture for an autonomous biped, and experimental results are presented.",
keywords = "Algorithm design and analysis, Equations, Force control, Humanoid robots, Jacobian matrices, Legged locomotion, Motion control, Optimal control, Research and development, Robot kinematics",
author = "D. Wollherr and M. Buss and M. Hardt and {Von Stryk}, O.",
note = "Publisher Copyright: {\textcopyright} 2003 IEEE.; 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 ; Conference date: 20-07-2003 Through 24-07-2003",
year = "2003",
doi = "10.1109/AIM.2003.1225473",
language = "English",
series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "968--973",
booktitle = "Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003",
}