Local Stability of PD Controlled Bipedal Walking Robots

@article{Kolathaya2020LocalSO,
  title={Local Stability of PD Controlled Bipedal Walking Robots},
  author={Shishir Kolathaya},
  journal={ArXiv},
  year={2020},
  volume={abs/2001.00145}
}
We establish stability results for PD tracking control laws in bipedal walking robots. Stability of PD control laws for continuous robotic systems is an established result, and we extend this for hybrid robotic systems, an alternating sequence of continuous and discrete events. Bipedal robots have the leg-swing as the continuous event, and the foot-strike as the discrete event. In addition, bipeds largely have underactuations due to the interactions between feet and ground. For each continuous… Expand
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