Stable Dynamic Walking over Rough Terrain

DOI10.1007/978-3-642-19457-3_8zbMath1250.93088OpenAlexW2178904312MaRDI QIDQ2914903

Fumiya Iida, Uwe Mettin, Russ Tedrake, Ian R. Manchester

Publication date: 21 September 2012

Published in: Springer Tracts in Advanced Robotics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-642-19457-3_8

zbMATH Keywords

underactuated mechanical systemstransverse linearizationdynamic walking biped robotstabilization of non-periodic trajectories

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18) Adaptive or robust stabilization (93D21) Control of mechanical systems (70Q05)

Related Items (3)

Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map ⋮ Transverse contraction criteria for existence, stability, and robustness of a limit cycle ⋮ Identification, Stability and Stabilization of Limit Cycles in a Compass-Gait Biped Model via a Hybrid Poincaré Map

This page was built for publication: Stable Dynamic Walking over Rough Terrain