Global-Position Tracking Control of 3-D Bipedal Walking via Virtual Constraint Design and Multiple Lyapunov Analysis

∗Corresponding Author. This material is based upon work supported by the National Science Foundation under Grant No. CMMI-1934280. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation. tracking during fully actuated walking. Simulations and ex23 periments on a 3-D bipedal robot with twenty revolute joints 24 confirm the validity of the proposed control approach in 25 guaranteeing accurate tracking. 26

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