Browsing Theses by Author "Wight, Derek L."
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A Foot Placement Strategy for Robust Bipedal Gait Control Wight, Derek L. (University of Waterloo, 2008-05-23)This thesis introduces a new measure of balance for bipedal robotics called the foot placement estimator (FPE). To develop this measure, stability first is defined for a simple biped. A proof of the stability of a simple ...