Port-Hamiltonian (PH) theory is a novel, but well established modeling framework for
nonlinear physical systems. Due to the emphasis on the physical structure and modular …

This article reports a unique state-feedback learning framework for the locomotion of a biped
robot over undulating surfaces. The proposed framework has two main components: 1) Gait …

This paper proposes a repetitive control type optimal gait generation framework by
executing learning control and parameter tuning. We propose a learning optimal control …

Port-Hamiltonian (PH) theory is a novel, but well established modeling framework for
nonlinear physical systems. Due to the emphasis on the physical structure and modular …

This paper proposes a novel framework to generate optimal gait trajectories for a one-
legged hopping robot via iterative learning control. This method generates gait trajectories …

This paper is concerned with repetitive control of Hamiltonian systems, which is based on
iterative learning control utilizing the variational symmetry of those systems. Variational …

This paper is concerned with a gait transition to an optimal periodic gait by a simultaneous
input and parameter optimization technique of Hamiltonian systems. First, a continuous-time …

The proposed method can generate an optimal feedforward control input and the
corresponding optimal walking trajectory minimizing the L_2 norm of the control input by …

To control a compass biped robot walking in a complex environment, it is necessary to
adjust its step length and walking speed for every step. Therefore, the computation time to …

Recently, the double generating function method for finite-time linear optimal control
problems was proposed. It gives a family of optimal trajectories for different boundary …