Abstract
The concepts of Passivity and Passivity-Based Control are well established in control theory and provide powerful design tools for control. In this paper we give an overview of a remarkable relation between Passivity-Based Control and the notion of Passive Walking in bipedal locomotion. We show how passivity-based control theory can be used to design nonlinear control laws for bipedal robots that reproduce passive limit cycles independent of the ground slope while overcoming some of the limitations of passive gaits, such as extreme sensitivity to ground slope, small basins of attraction, and poor disturbance rejection.
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