Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs
This paper presents a novel method to address the actuator saturation for nonlinear hybrid systems by directly incorporating user-defined input bounds in a controller design. In particular, we consider the application of bipedal walking and show that our method [based on a quadratic programming (QP)...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2015-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/7079382/ |