Can an underactuated leg with a passive spring at the knee achieve a ballistic step ?

Bernard Espiau (1) , Isabelle Guigues (1) , Roger Pissard-Gibollet (2)

1 BIP - Biped Robot
2 SED [Grenoble] - Service Expérimentation et Développement

no abstract

Domaines: Robotique [cs.RO]

Bernard Espiau, Isabelle Guigues, Roger Pissard-Gibollet. Can an underactuated leg with a passive spring at the knee achieve a ballistic step ?. Corke, Peter I. and Trevelyan, James. Experimental Robotics VI, 250, Springer London, pp.243-252, 2000, Lecture Notes in Control and Information Sciences, 978-1-85233-210-5. ⟨hal-00929774⟩