Quantifying and Optimizing Robustness of Bipedal Walking Gaits on Rough Terrain

Quantifying robustness of legged locomotion is essential toward developing more capable robots with legs. In this work, we study underactuated biped walking models. For such systems, various sources of disturbance can be introduced for robustness analysis. While keeping the methods generic, this paper focuses on two-legged loco- motion and studies stability on rough terrain, or equivalently, robustness to terrain disturbance. (From paragraph one.)

Cenk Oguz Saglam and Katie Byl
Robotics Research, Springer Proceedings in Advanced Robotics 3
Pages: 235-251
Date: January, 2018
ICB Affiliated Authors: Katie Byl