On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers

DOI10.1007/978-3-540-73890-9_14zbMath1137.93381OpenAlexW1779583466MaRDI QIDQ5436771

Eric Wendel, Aaron D. Ames, Robert D. Gregg IV, Shankar S. Sastry

Publication date: 17 January 2008

Published in: Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-540-73890-9_14

zbMATH Keywords

feedback controlRouthian reductionpotential shapingcontroll symmetries

Mathematics Subject Classification ID

Feedback control (93B52) Geometric methods (93B27) Automated systems (robots, etc.) in control theory (93C85) Artificial intelligence for robotics (68T40)

Related Items (3)

Rank deficiency and superstability of hybrid systems ⋮ Gait generation and control for biped robots with underactuation degree one ⋮ Three-Dimensional Kneed Bipedal Walking: A Hybrid Geometric Approach

Cites Work

• Asymptotically stable walking for biped robots: analysis via systems with impulse effects
• Dynamical properties of hybrid automata
• Controlled symmetries and passive walking
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