Averaged Anchoring of Decoupled Templates in a Tail-Energized Monoped


We refine and advance a notion of parallel composition to achieve for the first time a stability proof and empirical demonstration of a steady-state gait on a highly coupled 3DOF legged platform controlled by two simple (decoupled) feedback laws that provably stabilize in isolation two simple 1DOF mechanical subsystems. Specifically, we stabilize a limit… (More)
DOI: 10.1007/978-3-319-60916-4_16


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