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Robust Control of Semi-passive Biped Dynamic Locomotion based on a Discrete Control Lyapunov Function.

Chengju LiuJing YangKang AnMing LiuQijun Chen
Published in: Robotica (2020)
Keyphrases
  • control method
  • control strategy
  • lyapunov function
  • robust stability
  • control system
  • robotic systems
  • control strategies
  • control theory
  • optimal control
  • biologically inspired
  • control law
  • biped robot