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Published on Feb 25, 2013
A new approach to incorporating user-defined torque saturations into the calculation of a walking controller is introduced and validated experimentally on MABEL. This method makes use of quadratic programming to calculate a control which satisfies the Control Lyapunov Function (CLF) bound (if possible) without violating torque saturation constraints. All of this is implemented real time at a 1kHz control update rate.