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Asymptotically stable control of biped robots, especially based on reproducing passive periodic motions, have become of interest nowadays. In this paper, firstly, a three-dimensional (3D) stable passive biped walker which is a compass gait one with flat feet, compliant ankles and particular arrangement of moments of inertia has been presented. Then, a passivity-based control of the related biped robot based on elaborating 3D form of potential energy shaping method has been applied. In other words, by adding minimal actuations to the aforementioned passive walker, its passive periodic gait that belongs to a particular slope has been reproduced on any arbitrary surface such as the level ground. Simulation results support the effectiveness of the proposed approach.

In order to make a better output waveform of Current Source Inverter (CSI) and to reduce the influence of system performance when the parameters change. A energy shaping control strategy for the three-phase CSI is proposed in this paper. The port Controlled Hamiltonian (PCH) model of three-phase CSI is established in dq coordinate. The controller is designed in order to control the output of system. The solution for the Interconnection and Damping Assignment (IDA) is given through the analysis of the Lyapunov stability conditions. The rationality and validity of the proposal is verified through the simulation results.