Using a nonlinear mechanical control coupling metric for biped robot control and design

Abstract

This paper uses results from geometric mechanics and control to determine the degree of coupling between actuated and unactuated degrees of freedom in a two-link biped robot. By comparing the degree of coupling when ankle actuation is used and when hip actuation is used, it is clear that ankle actuation affords stronger dynamic coupling and hence, may… (More)
DOI: 10.1109/MMAR.2017.8046949

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