Switching and PI control of walking motions of planar biped walkers |
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| Authors: | Westervelt E.R. Grizzle J.W. Canudas de Wit C. |
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| Affiliation: | Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA; |
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| Abstract: | A companion paper has addressed the problem of designing controllers that induce exponentially stable, periodic walking motions at a fixed walking rate for a planar, biped robot with one degree of underactuation. This note provides two additional control features: 1) the ability to compose such controllers to obtain walking at several discrete walking rates with guaranteed stability during the transitions; and 2) the ability to regulate the average walking rate to a continuum of values. |
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