Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs
نویسندگان
چکیده
منابع مشابه
Control Lyapunov Function based Quadratic Programs for Torque Saturated Bipedal Walking
This work builds off of recent work on rapidly exponentially stabilizing control Lyapunov functions (RES-CLF) and presents a novel method to address actuator saturation in bipedal walking. The proposed method employs quadratic programming (QP) to implement CLF-based controllers, enabling directly incorporating user-specified input bounds into the controller. We show that even with increasingly ...
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2015
ISSN: 2169-3536
DOI: 10.1109/access.2015.2419630