IEEE - Institute of Electrical and Electronics Engineers, Inc. - Sample-Based HZD Control for Robustness and Slope Invariance of Planar Passive Bipedal Gaits

Proceedings of the 14th Mediterranean Conference on Control and Automation

Author(s): E.R. Westervelt ; B. Morris ; K.D. Farrell
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 June 2006
Conference Location: Ancona, Italy
Conference Date: 28 June 2006
Page(s): 1 - 6
ISBN (CD): 0-9786720-0-3
ISBN (Paper): 0-9786720-1-1
DOI: 10.1109/MED.2006.328693
Regular:

Controllers are developed that extend the hybrid zero dynamics (HZD) control approach to the control of planar biped walking by allowing constraints to be designed by sampling a gait of interest,... View More

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