Jia-Lin Li

Lyapunov-Certified Parameter Search and Terrain-Adaptive Feedback Control for Legged Locomotion Systems

: Stable high-speed locomotion of legged robotic platforms depends on gait parameters that are usually tuned by hand, with no guarantee that the resulting cycle is stable or efficient. This paper builds a hybrid dynamical model of the center-of-mass trajectory using a spring-loaded inverted pendulum abstraction, with s...