A Three-Stage Offline SDRE-Based Control Framework for Human Motion Reproduction on a Suspended Bipedal Robot
A three-stage offline control framework was developed to reproduce human lower limb motion and torque on a suspended bipedal robot. This method uses State-Dependent Riccati Equation control, parameterized optimization for actuator constraints, and PID-LQR compensation. The results show superior repeatability and significantly reduced tracking errors compared to baseline controllers.