By this approach we aim to preserve the natural dynamics of the system in the transverse dynamics (i.e. the dynamics transverse to the zero dynamics manifold) ...
By this approach we aim to preserve the natural dynamics of the system in the transverse dynamics (i.e. the dynamics transverse to the zero dynamics manifold) ...
Based on the HZD, but not relying on RES-CLF, the work in [23] proposed a passivity-based approach to keep the natural dynamics of the system and enhance the ...
Dive into the research topics of 'Passivity-based control of underactuated biped robots within hybrid zero dynamics approach'. Together they form a unique ...
Sadeghian, Hamid und Ott, Christian und Garofalo, Gianluca (2017) Passivity-based Control of Underactuated Biped Robots within Hybrid Zero Dynamics Approach ...
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The method presented in this paper allows the passivity-based controller to be used in combination with an arbitrary inner- loop control that creates a limit ...
This paper presents a novel control approach, based on the interconnection and damping-assignment passivity-based control (IDA-PBC), to achieve stable and ...
This dissertation presents the design of controllers that induce exponentially stable dynamic walking for general planar biped robots that have one degree ...
The zero dynamics of a hybrid model of bipedal walking are introduced and studied for a class of N-link, planar robots with one degree of underactuation and ...
Hybrid zero dynamics (HZD) control creates dynamically stable gaits by driving a hybrid robot model toward an optimally generated state-dependent reference ...