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@inproceedings{Gregg_HRIIC_2010,
  author =		 "Gregg, R. D. and Righetti, L. and Buchli, J. and Schaal, S.",
  year =		 "2010",
  title =		 "Constrained accelerations for controlled geometric reduction: Sagittal-plane decoupling for bipedal locomotion",
  booktitle =		 "Humanoid Robots (Humanoids), 2010 10th IEEE-RAS International Conference on",
  key =			 "asymptotic stability
humanoid robots
legged locomotion
matrix inversion
matrix multiplication
robot dynamics
16-dof humanoid
3d compass-gait biped
acceleration-based controller
asymptotically stable 3d bipedal dynamic walking
bipedal locomotion
",
  URL =			 "http://www-clmc.usc.edu/publications/G/gregg-Humanoids2010.pdf",
  pages =		 "1-7",
  crossref =		 "p10421"
}

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