Experimental results for 3D bipedal robot walking based on systematic optimization of virtual constraints

@article{Buss2016ExperimentalRF,
  title={Experimental results for 3D bipedal robot walking based on systematic optimization of virtual constraints},
  author={Brian G. Buss and Kaveh Akbari Hamed and Brent A. Griffin and Jessy W. Grizzle},
  journal={2016 American Control Conference (ACC)},
  year={2016},
  pages={4785-4792}
}
Feedback control laws which create asymptotically stable periodic orbits for hybrid systems are an effective means for realizing dynamic legged locomotion in bipedal robots. To address the challenge of designing such control laws, we recently introduced a method to systematically select a stabilizing feedback control law from a parameterized family of feedback laws by solving an offline optimization problem. The method has been used elsewhere to design a stable gait based on virtual constraints… CONTINUE READING

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Systematic controller design for dynamic 3d bipedal robot walking

  • B. G. Buss
  • Ph.D. dissertation, University of Michigan, .
  • 2015
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