Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL

This paper extends the method of virtual constraints and hybrid zero dynamics, developed for rigid robots with a single degree of underactuation, to MABEL, a planar biped with a novel compliant transmission. A time-invariant feedback controller is designed for realizing exponentially stable waking g...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Sreenath, K, Hae-Won Park, Poulakakis, I, Grizzle, J W
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Actuators Leg Legged locomotion Robot kinematics Springs Torso
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