Search
CSV
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 ...