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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 the experimental validation of a framework for the systematic design, analysis, and performance enhancement of controllers that induce stable walking in N-link underactuated planar biped robots. Controllers designed via this framework act by enforcing virtual constraints— holonomic constraints imposed via feedback—on the robot's(More)
This paper presents the main simulation and experimental results from studies of the robustness of a proposed new control strategy for the under-actuated robot RABBIT. The disturbances studied include modifications of the characteristics of the foot/ground interaction and the application of external forces to the trunk of the robot. These two kinds of(More)
—This brief presents a procedure for design and tuning of reduced orders H feedforward compensators for active vibration control systems subject to wide band disturbances. The procedure takes in account the inherent " positive " feedback coupling between the compensator system and the measurement of the image of the disturbance. It also takes advantage of(More)
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