A method for robust robotic bipedal walking on rough terrain: L1-optimal event-based feedback controller

@article{Lee2017AMF,
  title={A method for robust robotic bipedal walking on rough terrain: L1-optimal event-based feedback controller},
  author={Jongwoo Lee and Jung Hoon Kim and Yonghwan Oh},
  journal={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2017},
  pages={1443-1448}
}
Feedback controller for robotic bipedal walking models can be multi-layered, consisting of low-level continuous-time controller and high-level event-based controller. Stimulated by the success in our preceding study that demonstrates the validity of the l∞-induced norm as an adequate performance measure, we suggest a systematic methodology to design optimal… CONTINUE READING