Performance Analysis and Feedback Control of ATRIAS , A Three-Dimensional Bipedal Robot

  title={Performance Analysis and Feedback Control of ATRIAS , A Three-Dimensional Bipedal Robot},
  author={Alireza Ramezani and Jonathan W. Hurst and Kaveh Akbari Hamed},
This paper develops feedback controllers for walking in 3D, on level ground, with energy efficiency as the performance objective. Assume The Robot Is A Sphere (ATRIAS) 2.1 is a new robot that has been designed for the study of 3D bipedal locomotion, with the aim of combining energy efficiency, speed, and robustness with respect to natural terrain variations in a single platform. The robot is highly underactuated, having 6 actuators and, in single support, 13 degrees of freedom. Its sagittal… CONTINUE READING
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