Exponentially Stabilizing and Time-Varying Virtual Constraint Controllers for Dynamic Quadrupedal Bounding
Joseph B. Martin V,Vinay R. Kamidi,Abhishek Pandala,Randall T. Fawcett,Kaveh Akbari Hamed,Joseph B. Martin V,Vinay R. Kamidi,Abhishek Pandala,Randall T. Fawcett,Kaveh Akbari Hamed
This paper aims to develop time-varying virtual constraint controllers that allow stable and agile bounding gaits for full-order hybrid dynamical models of quadrupedal locomotion. As opposed to state-based nonlinear controllers, time-varying controllers can initiate locomotion from zero velocity. Motivated by this property, we investigate the stability guarantees that can be provided by the time-v...
