Identification of a Bipedal Robot with a Compliant Drivetrain

DOI10.1109/MCS.2010.939963MaRDI QIDQ5375732zbMATH OpenOpenAlexFDO

Authors Hae-Won Park, Koushil Sreenath, Jonathan W. Hurst, Jessy W. Grizzle

Publication date 14 September 2018

Published in IEEE Control Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/mcs.2010.939963

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85)

Cited in

(5)

• Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots
• First steps toward formal controller synthesis for bipedal robots with experimental implementation
• Parameter to state stability of control Lyapunov functions for hybrid system models of robots
• Optimization of energy efficiency of walking bipedal robots by use of elastic couplings in the form of mechanical springs
• Models, feedback control, and open problems of 3D bipedal robotic walking

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