Using Energy Shaping and Regulation for Limit Cycle Stabilization, Generation, and Transition in Simple Locomotive Systems
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DOI: 10.1115/1.4051589
Abstract: This paper explores new ways to use energy shaping and regulation methods in walking systems to generate new passive-like gaits and dynamically transition between them. We recapitulate a control framework for Lagrangian hybrid systems, and… read more here.
Keywords: transition; energy; energy shaping; limit ... See more keywords