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Control Lyapunov Function (CLF-based) Feedback Controller on MABEL

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Published on Nov 26, 2012

A new approach to implementing virtual constraints on bipedal robots is presented. The control law is based on control Lyapunov functions (CLF) and is validated experimentally on MABEL. MABEL starts walking under the standard input-output linearizing controller and then shifts to the CLF controller, which selects the minimum control value that guarantees desired rate of convergence to the periodic walking gait.

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