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Author

E. Papadopoulos

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Conference Jul 2026

Underactuated Virtual Gravity Control: Harnessing Passive Dynamics for Optimally Efficient Bipedal Locomotion

This paper explores the Underactuated Virtual Gravity (UVG) controller, a model-based control approach designed to achieve energy-efficient bipedal walking. The UVG controller minimizes actuator effort during level-ground walking by capitalizing on the inherent dynamics that facilitate stable passive gaits on downward...

Aikaterini Smyrli, E. Papadopoulos · 0 citations

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