Coordinate transformation as a help for controller design in walking robots

Oort van, Gijs and Stramigioli, Stefano (2010) Coordinate transformation as a help for controller design in walking robots. In: 29th Benelux Meeting on Systems and Control, 2010, 30 March - 1 April 2010, Heeze, The Netherlands.

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Abstract:	For walking robots, the robot’s absolute position must be re- flected in the state. Usually one chooses to include the pose and velocity of the torso in the state (i.e., the torso is taken as the reference body). However, sometimes it is useful to choose a different reference body; in particular the stance foot is a good choice.
Item Type:	Conference or Workshop Item
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/76372
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