Interconnection and Damping Assignment Passivity-Based Control for Gait Generation in Underactuated Compass-Like Robots
Pierluigi Arpenti,Fabio Ruggiero,Vincenzo Lippiello,Pierluigi Arpenti,Fabio Ruggiero,Vincenzo Lippiello
A compass-like biped robot can go down a gentle slope without the need of actuation through a proper choice of its dynamic parameter and starting from a suitable initial condition. Addition of control actions is requested to generate additional gaits and robustify the existing one. This paper designs an interconnection and damping assignment passivity-based control, rooted within the port-Hamilton...
