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Continuous-time update laws with radial basis step length for control of bipedal locomotion

Hamed, K. A ; Sharif University of Technology | 2010

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  1. Type of Document: Article
  2. DOI: 10.1049/el.2010.2481
  3. Publisher: 2010
  4. Abstract:
  5. Presented is a novel approach for designing continuous-time update laws to update the parameters of stabilising controllers during continuous phases of bipedal walking such that (i) a general cost function, such as the energy of the control input over single support, can be minimised in an online manner, and (ii) the exponential stability of the corresponding limit cycle for the closed-loop impulsive system is not affected. Formally, a class of update laws with a radial basis step length is developed to minimise a cost function in terms of the stabilising controller parameters and initial states of the mechanical system
  6. Keywords:
  7. Bipedal locomotion ; Bipedal walking ; Closed-loop ; Continuous phasis ; Continuous time ; Control inputs ; Controller parameter ; Exponential stability ; Impulsive systems ; Initial state ; Limit cycle ; Mechanical systems ; Radial basis ; Single support ; Step length ; Biped locomotion ; Continuous time systems ; Controllers ; Cost functions ; Exponential functions ; Impulse response ; Control system stability
  8. Source: Electronics Letters ; Volume 46, Issue 21 , 2010 , Pages 1431-1433 ; 00135194 (ISSN)
  9. URL: http://ieeexplore.ieee.org/document/5604792/?arnumber=5604792