Hybrid zero dynamics of planar bipedal walking

DOI10.1007/978-3-540-74358-3_14MaRDI QIDQ3564162zbMATH OpenOpenAlexFDO

Authors Jessy W. Grizzle, E. R. Westervelt

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

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

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Cited in

(17)

• Finite-time stabilization of periodic orbits for under-actuated biped walking with hybrid zero dynamics
• Modeling and control for efficient bipedal walking robots. A port-based approach
• Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics
• On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers
• Dynamic modeling in the simulation, optimization, and control of bipedal and quadrupedal robots
• Characterizing knee-bounce in bipedal robotic walking: a Zeno behavior approach
• Modeling, control and analysis of a curved feet compliant biped with HZD approach
• Efficiency study of the non-instantaneous double support phase in HZD controlled bipedal robot
• Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture
• Models, feedback control, and open problems of 3D bipedal robotic walking
• Achieving bipedal running with RABBIT: six steps toward infinity
• Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: application to bipedal locomotion
• First steps toward formal controller synthesis for bipedal robots with experimental implementation
• Dynamic bipedal walking under stick-slip transitions
• Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control
• First steps toward formal controller synthesis for bipedal robots
• Hybrid disturbance rejection control of dynamic bipedal robots

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