A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL

@article{Sreenath2011ACH,
  title={A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL},
  author={Koushil Sreenath and Hae-Won Park and Ioannis Poulakakis and Jessy W. Grizzle},
  journal={I. J. Robotics Res.},
  year={2011},
  volume={30},
  pages={1170-1193}
}
The planar bipedal testbed MABEL contains springs in its drivetrain for the purpose of enhancing both energy efficiency and agility of dynamic locomotion. While the potential energetic benefits of springs are well documented in the literature, feedback control designs that effectively realize this potential are lacking. In this paper, we extend and apply the methods of virtual constraints and hybrid zero dynamics, originally developed for rigid robots with a single degree of underactuation, to… CONTINUE READING
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