Coupled Control Systems: Periodic Orbit Generation With Application to Quadrupedal Locomotion
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DOI: 10.1109/lcsys.2020.3006963
Abstract: A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by this viewpoint, this letter presents a novel formulation for nonlinear… read more here.
Keywords: system; application; control; coupled control ... See more keywords
Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3065174
Abstract: This letter addresses the problem of formally guaranteeing the stability of interconnected systems with local controllers with a view toward stabilizing quadrupeds viewed as coupled bipeds. In particular, we present a novel framework that views… read more here.
Keywords: control; control lyapunov; stability; coupled control ... See more keywords