Gabriel Buche

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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 reviews and expands the class of hybrid zero dynamics (HZD) controllers that induce stable running in bipedal robots and discusses related experiments conducted in September 2004 in Grenoble, France. In these experiments , RABBIT, a five-link, four-actuator, planar bipedal robot, executed six consecutive running steps. These steps were notably(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)
The adaptive regulation is an important issue with a lot of potential for applications in active vibration control and active noise control. The basic problem from the " control system " point of view is the rejection of multiple unknown and time varying narrow band disturbances without using an additional transducer for getting informations upon the(More)