Volume 31 Issue 9 - Publication Date: August 2012

Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models

Twan Koolen, Tomas de Boer, John Rebula, Ambarish Goswami and Jerry Pratt

The International Journal of Robotics Research 2012 31: 1094–1113

Downloadable Files

Matlab GUI demonstrating N-step capture regions (133 kb)

IJRR Journal | All IJRR Supplementary Content

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