Control Lyapunov Function based Quadratic Programs for Torque Saturated Bipedal Walking
نویسندگان
چکیده
This work builds off of recent work on rapidly exponentially stabilizing control Lyapunov functions (RES-CLF) and presents a novel method to address actuator saturation in bipedal walking. The proposed method employs quadratic programming (QP) to implement CLF-based controllers, enabling directly incorporating user-specified input bounds into the controller. We show that even with increasingly stringent levels of actuator saturation, there is only a gradual degradation of performance while still maintaining the task of walking. Keywords-dynamic legged locomotion; actuator saturation; control Lyapunov functions.
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