2021
Robust Locomotion Control of a Self-Balancing and Underactuated Bipedal Exoskeleton: Task Prioritization and Feedback Control
RA-L 2021
This letter presents a study to understand how an underactuated bipedal exoskeleton with an arbitrary human user can exhibit robust dynamic walking behavior despite severe parameter uncertainty and external disturbances. Unlike in the case of classical bipedal robots where each leg possesses 6 or mo