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PID controllers have been employed in servo systems for decades. It is well known that an underdamped system has a fast response but accompanied by undesired overshoot, whereas an overdamped system has no oscillation at all but its response is too slow. We propose a setpoint gain scheduling scheme for PD-type controllers using fuzzy logic, which is simple and effective to implement in the industry,...
The kinetic energy of passive gaits in downhill walking gains from gravity and dissipates during the impact with ground. Hence, the passive gait is supposed to consume the least amount of energy in gait control. The simulated downhill walking trajectory seems to have a certain pattern though irregular. It has been observed that even a small deviation from an existed gait cycle may lead to instability...
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