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- W2887821010 abstract "Models of bipedal walking are hybrid with continuous-time phases representing the Lagrangian stance dynamics and discrete-time transitions representing the impact of the swing leg with the walking surface. The design of continuous-time feedback controllers that exponentially stabilize periodic gaits for hybrid models of underactuated 3D bipedal walking is a significant challenge. We recently introduced a method based on an iterative sequence of optimization problems involving bilinear matrix inequalities (BMIs) to systematically design stabilizing continuous-time controllers for single domain hybrid models of underactuated bipedal robots with point feet. This paper addresses the exponential stabilization problem for multi-contact walking gaits with nontrivial feet. A family of parameterized continuous-time controllers is proposed for different phases of the walking cycle. The BMI algorithm is extended to the multi-domain hybrid models of anthropomorphic 3D walking locomotion to look for stabilizing controller parameters. The Poincaré map is addressed and a new set of sufficient conditions is presented that guarantees the convergence of the BMI algorithm to a stabilizing set of controller parameters at a finite number of iterations. The power of the algorithm is ultimately demonstrated through the design of stabilizing virtual constraint controllers for dynamic walking of a 3D humanoid model with 28 state variables and 275 controller parameters." @default.
- W2887821010 created "2018-08-22" @default.
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- W2887821010 date "2018-06-01" @default.
- W2887821010 modified "2023-09-25" @default.
- W2887821010 title "Exponentially Stabilizing Controllers for Multi-Contact 3D Bipedal Locomotion" @default.
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- W2887821010 doi "https://doi.org/10.23919/acc.2018.8431799" @default.
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