Title:  Designing Feedback Algorithms for Controlling the Periodic 
Motions of Legged Robots
 Authors:  J.P. Ostrowski and J.W. Burdick
 In :  Proc. IEEE Int. Conf. on Robotics and Automation, 1993.

ABSTRACT

This paper develops a nonlinear feedback control algorithm for repetitive legged robotic locomotion whose global dynamic behavior can be encoded in a Poincare return map. Control synthesis is equivalent to the selection of a nonlinear feedback control law which properly "shapes" the return map. We present a method for return map shaping in a neighborhood of a fixed point. In practice, this neighborhood can be quite large. The theory is illustrated with applications to a simplified model of Raibert's hopping machines. An added benefit is accurate control of hopping height above undulating terrain.

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