Robotic Walking with Control Lyapunov Functions
A new control approach based on control Lyapunov functions (CLF) 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 convergence to the periodic walking gait.
This is joint work with Jessy Grizzle, Kevin Galloway and Koushil Sreenath. The papers related to this video can be found at:
http://www.eecs.umich.edu/~grizzle/pa...
http://www.eecs.umich.edu/~grizzle/pa...