文章基本信息

标题：Gait Generation for Underactuated Compass-Like Robots Using Dissipative Forces in the Controller ⁎
本地全文：下载
作者：Matías Nacusse ; Pierluigi Arpenti ; Fabio Ruggiero 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：9023-9030
DOI：10.1016/j.ifacol.2020.12.2022
语种：English
出版社：Elsevier
摘要：AbstractThis work addresses the problem of gait generation in underactuated compass-like biped robots using dissipative forces in the controller. Three different controllers are presented. The first one is a simultaneous interconnection and damping assignment passivity-based control with dissipative forces. The second one is an energy pumping-and-damping control, while the third one is an energy pumping or damping control action. Numerical case studies, comparisons, and critical discussions evaluate the performance of the proposed approaches.
关键词：Keywordsgait generationcompass-like robotSIDA-PBCpumpingdampingdissipative forces