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The objective of this book is to present systematic methods for achieving stable , agile and efficient locomotion in bipedal robots. The fundamental principles presented here can be used to improve the control of existing robots and provide guidelines for improving the mechanical design of future robots. The book also contributes to the emerging control(More)
— 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 paper presents a feedback controller that achieves an asymptotically stable, periodic, and fast walking gait for a 3D bipedal robot consisting of 3-links and passive (unactuated) point-feet. The robot has 6 DOF in the single support phase and four actuators. In addition to the reduced number of actuators, the interest of studying robots with point feet(More)