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Keywords: controlled Lagrangian methodClose
Article Type: Research Papers
J. Comput. Nonlinear Dynam. October 2008, 3(4): 041013.
Published Online: September 4, 2008
... is placed on the hip of the robot to shape the energy of the biped. We use the controlled Lagrangian method to design the controller, and the simulation is carried out to show its performance. In the controlled Lagrangian method, either the total energy or the Lagrangian of the uncontrolled system...