Volume 31 Issue 10 - Publication Date: September 2012

Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid

Jerry Pratt, Twan Koolen, Tomas de Boer, John Rebula, Sebastien Cotton, John Carff, Matthew Johnson and Peter Neuhaus

The International Journal of Robotics Research 2012 31: 1117–1133

Downloadable Files

Results of control algorithm implementation, both on the physical robot and in simulation. (50.6 mb)

IJRR Journal | All IJRR Supplementary Content

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