Passivity-based Control of Underactuated Biped Robots within Hybrid Zero Dynamics Approach

Sadeghian, Hamid and Ott, Christian and Garofalo, Gianluca (2017) Passivity-based Control of Underactuated Biped Robots within Hybrid Zero Dynamics Approach. 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017-05-29 - 2017-06-03, Singapore. doi: 10.1109/icra.2017.7989471.

PDF
907kB

Item URL in elib:

https://elib.dlr.de/113483/

Document Type:

Conference or Workshop Item (Lecture)

Title:

Passivity-based Control of Underactuated Biped Robots within Hybrid Zero Dynamics Approach

Authors:

Authors	Institution or Email of Authors	Author's ORCID iD	ORCID Put Code
Sadeghian, Hamid	UNSPECIFIED	UNSPECIFIED	UNSPECIFIED
Ott, Christian	UNSPECIFIED	https://orcid.org/0000-0003-0987-7493	UNSPECIFIED
Garofalo, Gianluca	UNSPECIFIED	https://orcid.org/0000-0002-7481-3464	UNSPECIFIED

Date:

2017

Refereed publication:

Yes

Open Access:

Yes

Gold Open Access:

In SCOPUS:

In ISI Web of Science:

DOI:

10.1109/icra.2017.7989471

Status:

Published

Keywords:

Hybrid Zero Dynamics, Passivity-based Control

Event Title:

2017 IEEE International Conference on Robotics and Automation (ICRA)

Event Location:

Singapore

Event Type:

international Conference

Event Start Date:

29 May 2017

Event End Date:

3 June 2017

HGF - Research field:

Aeronautics, Space and Transport

HGF - Program:

Space

HGF - Program Themes:

Space System Technology

DLR - Research area:

Raumfahrt

DLR - Program:

R SY - Space System Technology

DLR - Research theme (Project):

R - Terrestrial Assistance Robotics (old)

Location:

Oberpfaffenhofen

Institutes and Institutions:

Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems

Deposited By:

Garofalo, Dr. Ing. Gianluca

Deposited On:

31 Jul 2017 16:21

Last Modified:

08 Aug 2025 11:00

Repository Staff Only: item control page