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Models, feedback control, and open problems of 3D bipedal robotic walking
The fields of control and robotics are working toward the development of bipedal robots that
can realize walking motions with the stability and agility of a human being. Dynamic models …
can realize walking motions with the stability and agility of a human being. Dynamic models …
Stable dynamic walking over uneven terrain
We propose a constructive control design for stabilization of non-periodic trajectories of
underactuated robots. An important example of such a system is an underactuated “dynamic …
underactuated robots. An important example of such a system is an underactuated “dynamic …
Finite time stabilization of a perturbed double integrator—Part I: Continuous sliding mode-based output feedback synthesis
The twisting and supertwisting algorithms, generating important classes of second order
sliding modes (SOSMs), are well-recognized for their finite time stability and robustness …
sliding modes (SOSMs), are well-recognized for their finite time stability and robustness …
3D bipedal robotic walking: models, feedback control, and open problems
The fields of control and robotics are contributing to the development of bipedal robots that
can realize walking motions with the stability and agility of a human being. Dynamic models …
can realize walking motions with the stability and agility of a human being. Dynamic models …
Nonholonomic virtual constraints and gait optimization for robust walking control
A key challenge in robotic bipedal locomotion is the design of feedback controllers that
function well in the presence of uncertainty, in both the robot and its environment. This paper …
function well in the presence of uncertainty, in both the robot and its environment. This paper …
Hierarchical and safe motion control for cooperative locomotion of robotic guide dogs and humans: A hybrid systems approach
This letter presents a hierarchical control strategy based on hybrid systems theory, nonlinear
control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs …
control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs …
Observer design for hybrid dynamical systems with approximately known jump times
This paper proposes a general framework for state estimation of systems modeled as hybrid
dynamical systems with jumps occurring at (approximately) known times. A candidate …
dynamical systems with jumps occurring at (approximately) known times. A candidate …
State estimation for a legged robot with multiple flexibilities using imu s: A kinematic approach
This letter presents a general state estimation method for legged robots having internal
flexibilities. In details, the method is applicable to any robot with an arbitrary number of …
flexibilities. In details, the method is applicable to any robot with an arbitrary number of …
Hybrid disturbance rejection control of dynamic bipedal robots
This paper presents a disturbance rejection control strategy for hybrid dynamic systems
exposed to model uncertainties and external disturbances. The focus of this work is the gait …
exposed to model uncertainties and external disturbances. The focus of this work is the gait …
Gait transitions for quasi-static hexapedal locomotion on level ground
As robot bodies become more capable, the motivation grows to better coordinate them–
whether multiple limbs attached to a body or multiple bodies assigned to a task. This paper …
whether multiple limbs attached to a body or multiple bodies assigned to a task. This paper …