Passivity - Based control of bipedal locomotion

IEEE Robotics and Automation Magazine

Volumn 14, Issue 2, 2007, Pages 30-40

  Spong, Mark W ^a   Holm, John K ^a   Lee, Dongjun ^b  

^a University of Illinois at Urbana Champaign   (United States)

^b Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

Author keywords

Bipedal locomotion; Group action; Limit cycle; Passive walking; Passivity based control; Potential energy shaping; Symmetry; Trajectory time scaling

Indexed keywords

BIPEDAL LOCOMOTION; GROUP ACTION; LIMIT CYCLE; PASSIVE WALKING; PASSIVITY-BASED CONTROL; POTENTIAL ENERGY SHAPING; SYMMETRY;

BIPED LOCOMOTION; CONTROL SYSTEM ANALYSIS; LAGRANGE MULTIPLIERS; NONLINEAR CONTROL SYSTEMS; PASSIVATION; POTENTIAL ENERGY; THREE DIMENSIONAL;

POWER CONTROL;

EID: 53349123437     PISSN: 10709932     EISSN: None     Source Type: Journal    
DOI: 10.1109/MRA.2007.380638     Document Type: Review

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