Abstract: This paper explores new ways to use energy shaping and regulation methods in walking systems to generate new passive-like gaits and dynamically transition between them. We recapitulate a control framework for Lagrangian ...

Abstract: This paper details a decentralized passivity-based control (PBC) to improve the robustness of biped locomotion in the presence of gait-generating external torques and parametric errors in the biped model. Previous work ...

Abstract: In this work, a detailed assessment of the decay heat power for the commercial-size European sodium-cooled fast reactor (ESFR) at the end of its equilibrium cycle has been performed. The summation method has been used to ...