Hybrid zero dynamics of planar bipedal walking
DOI10.1007/978-3-540-74358-3_14zbMATH Open1189.93055OpenAlexW64523597MaRDI QIDQ3564162FDOQ3564162
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
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asymptotical stabilityfeedback theorybipedal robots in motionperiodic walking motionssystematic synthesis methods
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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- 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
- Achieving bipedal running with RABBIT: six steps toward infinity
- Models, feedback control, and open problems of 3D bipedal robotic walking
- 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
- Finite-time stabilization of periodic orbits for under-actuated biped walking with hybrid zero dynamics
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