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Modeling, Analysis, and Control of SLIP Running on Dynamic Platforms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The complex dynamic behaviors of legged locomotion on stationary terrain have been extensively analyzed using a simplified dynamic model called the spring-loaded inverted pendulum (SLIP) model. However, legged locomotion ...
Adaptive Robust Tracking Control for Hybrid Models of Three-Dimensional Bipedal Robotic Walking Under Uncertainties
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper introduces an adaptive robust trajectory tracking controller design to provably realize stable bipedal robotic walking under parametric and unmodeled uncertainties. Deriving such a controller is challenging ...
Global-Position Tracking Control for Multi-Domain Bipedal Walking With Underactuation1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Accurate control of a humanoid robot's global position (i.e., its three-dimensional (3D) position in the world) is critical to the reliable execution of high-risk tasks such as avoiding collision with pedestrians in a ...
Exponential Stabilization of Fully Actuated Planar Bipedal Robotic Walking With Global Position Tracking Capabilities
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper focuses on the development of a model-based feedback controller to realize high versatility of fully actuated planar bipedal robotic walking. To conveniently define both symmetric and asymmetric walking patterns, ...
Global-Position Tracking Control for Three-Dimensional Bipedal Robots Via Virtual Constraint Design and Multiple Lyapunov Analysis
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as “global-position tracking.” This paper ...