Impact Invariant Control with Applications to Bipedal Locomotion
William Yang,Michael Posa,William Yang,Michael Posa
When legged robots impact their environment, they undergo large changes in their velocities in a small amount of time. Measuring and applying feedback to these velocities is challenging, and is further complicated due to uncertainty in the impact model and impact timing. This work proposes a general framework for adapting feedback control during impact by projecting the control objectives to a sub...
