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Biped robots are inherently hybrid systems due to their intermittent, switching dynamics resulting from foot/ground impacts. It is well known that stable (passive) limit cycles for such mechanisms can be induced on shallow slopes without actuation. Most studies of passive dynamics to date have considered point or curved feet. In this paper, we consider passive bipeds with fixed flat feet. We study...
This paper investigates iterative learning control for linear discrete time nonminimum phase systems. First, iterative learning control with advanced output data is considered for maximum phase systems. Next, the results are extended to nonminimum phase systems. The stability of the inverse mapping from the desired output to the input is proven based on the results for maximum phase systems. The input...
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