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New analysis and tools are presented that extend the hybrid zero dynamics (HZD) framework for the control of planar bipedal walkers. Results include (i) analysis of walking on a slope, (ii) analysis of dynamic (decoupling matrix) singularities, and (iii) an alternative method for choosing virtual constraints. A key application of the new tools is the design of controllers that render a passive bipedal gait robust to disturbances without the use of full actuation—while still requiring zero control effort at steady-state. The new tools can also be used to design controllers for gaits having an arbitrary steady-state torque profile. Five examples are given that illustrate these and other results.
Autonomous Robots – Springer Journals
Published: May 19, 2007
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