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This paper presents an underactuated control law for regulating the speed of bipedal walking robots. This control achieves speed regulation while requiring 96% less actuator energy per step than previously reported, fully-actuated controls that achieve speed regulation by velocity scaling. Our control arises from shaping the kinetic energy of a bipedal robot with actuators at the ankles only. While...
This paper presents a control law that time-scales reference trajectories of dynamical systems, yielding arbitrary velocities in arbitrary time. It is shown that, for unforced (passive) reference trajectories, constant time-scaling results in a potential energy-shaping control. Application to walking trajectories of bipedal robots is shown, extending the use of the control beyond purely continuous...
In this article, we have shown how to design energy-based and passivity-based control laws that exploit the existence of passive walking gaits to achieve walking on different ground slopes, to increase the size of the basin of attraction and robustness properties of stable limit cycles, and to regulate walking speed. Many of the results presented in this are the compass gait are equally applicable...
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