Controlled symmetries and passive walking

By Mark W. Spong, Francesco Bullo. IEEE Transactions on Automatic Control, 2005

359 citations recorded by the source corpus.

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> Replace This Line with Your Paper Identification Number (double-click Here to Edit) < 1 (neutral): “In order to address stability and to provide a large basin of attraction, [19] assumed full actuation (i.e., actuation between the leg end and the ground, in addition to all internal joints of the robot being actuated).”
Models, feedback control, and open problems of 3D bipedal robotic walking (2014, background): “Controlled symmetries, introduced in [188], works by shaping the potential energy a robot to that of a passive biped walking down a slope.”
Asymptotically Stable Walking of a Five-Link Underactuated 3-D Bipedal Robot (2009, methodology): “So that the controller would be time-invariant, the orbit was parameterized with a configuration variable that is strictly monotonic throughout a normal gait, as in [2], [3], [4], [5], before linearization was applied.”
Feedback Control of Dynamic Bipedal Robot Locomotion (2007, background): “Actuation, sensing and feedback can remedy both of these shortcomings [217].”
A superlinear convergence feasible sequential quadratic programming algorithm for bipedal dynamic walking robot via discrete mechanics and optimal control (2016, background): “From the numerical simulation results of [11, 41], we can see that they have the same monotonicity in the walking process.”