Volume 5A: 39th Mechanisms and Robotics Conference 2015
DOI: 10.1115/detc2015-47666
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Quantifying Control Authority in Periodic Motions of Underactuated Mobile Robots

Abstract: The locomotion of legged robots is inherently underactuated, which creates control challenges in terms of rejecting large disturbances. A detailed understanding of how the control authority of a robot evolves over a gait trajectory has the potential to inform the design of controllers that offer superior disturbance rejection capabilities without compromising the efficiency benefits that typically accompany underactuated legged robots. Previous work has shown how the system velocities of an underactuated mecha… Show more

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