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Presented is a novel and analytical approach to design a hybrid controller based on hybrid zero dynamics for exponential stabilisation of a desired periodic orbit for a hybrid model of walking composed of single and double support phases. To achieve this goal, the effect of a double support phase on angular momentum transfer and stabilisation is investigated. Also, the class of control inputs corresponding...
Presented is a novel approach for designing continuous-time update laws to update the parameters of stabilising controllers during continuous phases of bipedal walking such that (i) a general cost function, such as the energy of the control input over single support, can be minimised in an online manner, and (ii) the exponential stability of the corresponding limit cycle for the closed-loop impulsive...
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