Coordinate transformation as a help for controller design in walking robots

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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.
    Original languageEnglish
    Title of host publication29th Benelux Meeting on Systems and Control
    Subtitle of host publicationMarch 30 - April 1, 2010, Heeze, The Netherlands : book of abstracts
    EditorsHans Stigter, Gjerrit Meinsma
    Place of PublicationWageningen
    PublisherWageningen University - Biometris
    Pages110-110
    Number of pages1
    ISBN (Print)978-90-8585-672-6
    Publication statusPublished - 30 Mar 2010
    Event29th Benelux Meeting on Systems and Control 2010 - Heeze, Netherlands
    Duration: 30 Mar 20101 Apr 2010
    Conference number: 29

    Conference

    Conference29th Benelux Meeting on Systems and Control 2010
    CountryNetherlands
    CityHeeze
    Period30/03/101/04/10

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