Decentralized Control Schemes for Stable Quadrupedal Locomotion: A Decomposition Approach from Centralized Controllers
Abhishek Pandala,Vinay R. Kamidi,Kaveh Akbari Hamed,Abhishek Pandala,Vinay R. Kamidi,Kaveh Akbari Hamed
Although legged robots are becoming more nonlinear with higher degrees of freedom (DOFs), the centralized nonlinear control methods required to achieve stable locomotion cannot scale with the dimensionality of these robots. This paper investigates time-varying decentralized feedback control architectures based on hybrid zero dynamics (HZD) that stabilize dynamic legged locomotion with high degrees...
