Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots. Johnson, A. M., Haynes, G. C., & Koditschek, D. E. In Proceedings of the IEEE/RSJ Intl.\ Conference on Intelligent Robots and Systems, pages 5347–5353, Taipei, Taiwan, October, 2010.
Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots [link]Publisher  Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots [pdf]Pdf  Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots [link]Video  bibtex   
@inproceedings{paper:johnson2010disturbance,
  author        = {Aaron M. Johnson and G. Clark Haynes and D. E. Koditschek},
  title         = {Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots},
  booktitle     = {Proceedings of the IEEE/RSJ Intl.\ Conference on Intelligent Robots and Systems},
  month         = {October},
  year          = {2010},
  address       = {Taipei, Taiwan},
  _doi          = {10.1109/IROS.2010.5651061}, 
  pages         = {5347--5353},
  keywords      = {Proprioception, Contact},
  url_Publisher = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5651061},
  url_PDF       = {http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonAaronDisturbanceIROS2010.pdf},
  url_Video     = {https://www.youtube.com/watch?v=8lvh0pfCoLI}
}
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