Junho Chang

Periodic Trajectory Planning and Robust Output Zeroing Control for Underactuated Bipedal Robots with Predicted Disturbances

For underactuated bipedal robots, it is important to compensate disturbances which affects the zero dynamics to realize a stable locomotion when we use output zeroing controllers. In order to deal with such disturbances, this paper presents a framework of a periodic trajectory planning and a robust…