@inproceedings{703da1bb624e4c1c93f7e7c5e4f25ed5,
title = "Design and experimental implementation of a compliant hybrid zero dynamics controller with active force control for running on MABEL",
abstract = "This paper presents a control design based on the method of virtual constraints and hybrid zero dynamics to achieve stable running on MABEL, a planar biped with compliance. In particular, a time-invariant feedback controller is designed such that the closed-loop system not only respects the natural compliance of the open-loop system, but also enables active force control within the compliant hybrid zero dynamics and results in exponentially stable running gaits. The compliant-hybrid-zero-dynamics-based controller with active force control is implemented experimentally and shown to realize stable running gaits on MABEL at an average speed of 1.95 m/s (4.4 mph) and a peak speed of 3.06 m/s (6.8 mph). The obtained gait has flight phases upto 39% of the gait, and an estimated ground clearance of 7.5 - 10 cm.",
author = "Koushil Sreenath and Park, {Hae Won} and Grizzle, {J. W.}",
year = "2012",
month = jan,
day = "1",
doi = "10.1109/ICRA.2012.6224944",
language = "English (US)",
isbn = "9781467314039",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "51--56",
booktitle = "2012 IEEE International Conference on Robotics and Automation, ICRA 2012",
address = "United States",
note = " 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 ; Conference date: 14-05-2012 Through 18-05-2012",
}