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μ-synthesis control for a walking robot

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4 Author(s)
S. Pannu ; Dept. of Mech. Eng., California Univ., Berkeley, CA, USA ; H. Kazerooni ; G. Becker ; A. Packard

Proposes using two under-actuated robotic systems as two legs of a walking machine. Since the ankle joints of both legs have no actuation, the walking machine remains upright only when it is balanced via a computer-controller. The design of a stabilizing controller for one under-actuated leg, using a μ-synthesis approach, is explained in detail. The system at the equilibrium can be represented by a non-minimum phase system. The right half plane zero severely limits the achievable closed-loop bandwidth and robustness in modeling errors.

Published in:

IEEE Control Systems  (Volume:16 ,  Issue: 1 )