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This paper presents a novel method for directly incorporating user-definedcontrol input saturations into the calculation of a control Lyapunov function(CLF)-based walking controller for a biped robot. Previous work by the authorshas demonstrated the effectiveness of CLF controllers for stabilizing periodicgaits for biped walkers, and the current work expands on those results byproviding a more effective means for handling control saturations. The newapproach, based on a convex optimization routine running at a 1 kHz controlupdate rate, is useful not only for handling torque saturations but also forincorporating a whole family of user-defined constraints into the onlinecomputation of a CLF controller. The paper concludes with an experimentalimplementation of the main results on the bipedal robot MABEL.

Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs