Hybrid Zero Dynamics of Planar Bipedal Walking

DOI10.1007/978-3-540-74358-3_14zbMath1189.93055OpenAlexW64523597MaRDI QIDQ3564162

E. R. Westervelt, Jessy W. Grizzle

Publication date: 2 June 2010

Published in: Analysis and Design of Nonlinear Control Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-540-74358-3_14

zbMATH Keywords

asymptotical stabilityfeedback theorybipedal robots in motionperiodic walking motionssystematic synthesis methods

Mathematics Subject Classification ID

Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20) Control problems involving ordinary differential equations (34H05) Control/observation systems governed by ordinary differential equations (93C15)

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