most citedFeedback Regularization and Geometric PID Control for Robust Stabilization of a Planar Three-link Hybrid Bipedal Walking Model

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eess.SY2017★ 1 cited

Feedback Regularization and Geometric PID Control for Robust Stabilization of a Planar Three-link Hybrid Bipedal Walking Model

W. M. L. T. Weerakoon, T. W. U. Madhushani, D. H. S. Maithripala +1

This paper applies a recently developed geometric PID controller to stabilize a three-link planar bipedal hybrid dynamic walking model. The three links represent the robot torso an…