Control of a Planar Underactuated Biped on a Complete Walking Cycle

Abstract : We address the problem of stabilizing a planar biped robot on a complete walking cycle. Our approach is based on singling out the three fundamental phases of motion of a biped: single and double-support, separated (sequentially) by an impact “instantaneous” phase. We propose control laws to drive the robot for a finite time during each phase while ensuring certain robustness vis-a-vis the impacts which are treated as external perturbations.
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Ahmed Chemori, A. Loria. Control of a Planar Underactuated Biped on a Complete Walking Cycle. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2004, 49 (5), pp.838-843. ⟨10.1109/TAC.2004.828314⟩. ⟨lirmm-02360749⟩

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