L[subscript 2]-gain optimization for robust bipedal walking on unknown terrain
In this paper we seek to quantify and explicitly optimize the robustness of a control system for a robot walking on terrain with uncertain geometry. Geometric perturbations to the terrain enter the equations of motion through a relocation of the hybrid event “guards” which trigger an impact event; t...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2014
|
| Online Access: | http://hdl.handle.net/1721.1/90909 https://orcid.org/0000-0002-8712-7092 https://orcid.org/0000-0001-9363-3701 |