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RISDecentralized Passivity-Based Control With a Generalized Energy Storage Function for Robust Biped Locomotion
Publisher: American Society of Mechanical Engineers (ASME)
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 ...
Using Energy Shaping and Regulation for Limit Cycle Stabilization, Generation, and Transition in Simple Locomotive Systems
Publisher: The American Society of Mechanical Engineers (ASME)
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 ...