Controlled Reduction With Unactuated Cyclic Variables: Application to 3D Bipedal Walking With Passive Yaw Rotation

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Publication:5353383

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DOI10.1109/TAC.2013.2256011zbMath1369.93416WikidataQ30612026 ScholiaQ30612026MaRDI QIDQ5353383

Ludovic Righetti, Robert D. Gregg IV

Publication date: 8 September 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20) Robot dynamics and control of rigid bodies (70E60)

Related Items (3)

The Role of Symmetry and Dissipation in Biolocomotion ⋮ Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: application to bipedal locomotion ⋮ Adaptive control of unactuated dynamical systems through interconnections: Stability and performance guarantees

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