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— This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D bipedal robot consisting of a torso, revolute knees, and passive (unactuated) point feet. The walking surface is assumed to be rigid and flat; the contact between the robot and the walking surface is assumed to inhibit yaw(More)
— This paper presents a within-stride feedback controller that achieves an exponentially stable, periodic, and fast walking gait for a 3D bipedal robot consisting of a torso, revolute knees, and passive (unactuated) point feet. The walking surface is assumed to be rigid and flat; the contact between the robot and the walking surface is assumed to inhibit(More)
This work studies the motion control of a statically stable biped robot having seven degrees of freedom. Statically stable walking of the biped robot is realized by maintaining the center-of-gravity inside the convex region of the supporting foot and/or feet during both single-support and double-support phases. The main points of this work are framing the(More)
This paper exploits a natural symmetry present in a 3D robot in order to achieve asymptotically stable steering. The robot under study is composed of 5-links and unactuated point feet; it has 9 DoF (degree-of-freedom) in the single support phase and six actuators. The control design begins with a hybrid feedback controller that stabilizes a straight-line(More)