Sensitivity of Legged Balance Control to Uncertainties and Sampling Period

Nahuel A Villa (1) , Johannes Englsberger (2) , Pierre-Brice Wieber (1)

1 Inria Grenoble - Rhône-Alpes
2 DLR Institute of Robotics and Mechatronics

Mots clés: long sampling periods; bounded uncertainty; robust control; legged robots; safety; invariant set; stability; feedback gains; humanoid

Domaines: Automatique; Robotique [cs.RO]

Nahuel A Villa, Johannes Englsberger, Pierre-Brice Wieber. Sensitivity of Legged Balance Control to Uncertainties and Sampling Period. IEEE Robotics and Automation Letters, 2019, 4 (4), pp.3665-3670. ⟨10.1109/LRA.2019.2927944⟩. ⟨hal-02168523v2⟩