2 papers
cs.RO2019
A Momentum-Based Foot Placement Strategy for Stable Postural Control of Robotic Spring-Mass Running with Point Feet
Gorkem Secer, Ali Levent Cinar
A long-standing argument in model-based control of locomotion is about the level of complexity that a model should have to define a behavior such as running. Even though goldilocks…
eess.SY2019
Modeling, Analysis, and Control of Mechanical Systems under Power Constraints
Gorkem Secer
Significant improvements have been achieved in motion control systems with the availability of high speed power switches and microcomputers on the market. Even though motor drivers…