Uniform Global Exponential Stabilizing Passivity-Based Tracking Controller Applied to Planar Biped Robots
Pierluigi Arpenti,Alejandro Donaire,Fabio Ruggiero,Vincenzo Lippiello,Pierluigi Arpenti,Alejandro Donaire,Fabio Ruggiero,Vincenzo Lippiello
This paper presents a novel control approach, based on the interconnection and damping-assignment passivity-based control (IDA-PBC), to achieve stable and periodic walking for underactuated planar biped robots with one degree of underactuation. The system's physical structure is preserved by assigning a target port-Hamiltonian dynamics to the closed-loop system, which also ensures passivity. The c...
