Asymptotically stable walking for biped robots: analysis via systems with impulse effects
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Cited in
(only showing first 100 items - show all)- Pointwise asymptotic stability in a hybrid system and well-posed behavior beyond Zeno
- An upper-body can improve the stability and efficiency of passive dynamic walking
- Revisiting the stability of 2D passive biped walking: local behavior
- Walking dynamics for an ascending stair biped robot with telescopic legs and impulse thrust
- Parameter influence on passive dynamic walking of a robot with flat feet
- A further analysis of the passive compass-gait bipedal robot and its period-doubling route to chaos
- Existence of open-loop equilibria in differential games with impulsive effects suffered by logic choice
- Dynamic bipedal walking under stick-slip transitions
- A novel projected fletcher-reeves conjugate gradient approach for finite-time optimal robust controller of linear constraints optimization problem: application to bipedal walking robots
- Orbital stability of periodic solutions of an impulsive system with a linear continuous-time part
- Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: analysis of local bifurcations via the hybrid Poincaré map
- Modeling, stability and control of biped robots --- a general framework
- Exploiting natural dynamics for gait generation in undulatory locomotion
- Lyapunov conditions for exponential stability of nonlinear delay systems via impulsive control involving stabilizing delays
- Finite-time stabilization of periodic orbits for under-actuated biped walking with hybrid zero dynamics
- Poincaré map and periodic solutions of first-order impulsive differential equations on Moebius stripe
- Impulsive perturbations to differential equations: stable/unstable pseudo-manifolds, heteroclinic connections, and flux
- Modeling and control for efficient bipedal walking robots. A port-based approach
- Stability of impulsive systems depending on a parameter
- Dynamical analysis and performance evaluation of a biped robot under multi-source random disturbances
- Design of an explicit expression of the Poincaré map for the passive dynamic walking of the compass-gait biped model
- Lyapunov based estimation of the basin of attraction of Poincaré maps with applications to limit cycle walking
- Modeling and stability analysis of controlled passive walking
- Control of (otherwise) uncontrollable linear mechanical systems through non-smooth impacts
- Fixed-time stability and stabilization of impulsive dynamical systems
- Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs
- Walking dynamics of the passive compass-gait model under OGY-based control: emergence of bifurcations and chaos
- Orbital stabilization of underactuated systems using virtual holonomic constraints and impulse controlled Poincaré maps
- A new adaptive backstepping method for nonlinear control of turbine main steam valve
- Control method of biped locomotion giving asymptotic stability of trajectory
- Modeling and finite-time walking control of a biped robot with feet
- Rank deficiency and superstability of hybrid systems
- Identification, stability and stabilization of limit cycles in a compass-gait biped model via a hybrid Poincaré map
- Modification-based periodic gait planning for a 3-D bipedal robot with two underactuated DOFs
- Finite time stabilization of a perturbed double integrator with unilateral constraints
- Positive limit set in novel hybrid systems with interactions between differential dynamics and evolutionary games
- Hidden attractor in a passive motion model of compass-gait robot
- A novel online gait optimization approach for biped robots with point-feet
- On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers
- Dynamic virtual holonomic constraints for stabilization of closed orbits in underactuated mechanical systems
- Control of systems with time varying unilateral constraints using robust and optimal controllers: A homogeneity framework
- Dynamical systems with active singularities: input/state/output modeling and control
- Stability improvement of a dynamic walking system via reversible switching surfaces
- Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems
- Non-prehensile manipulation of a devil-stick: planar symmetric juggling using impulsive forces
- Reinforcement learning control for a three-link biped robot with energy-efficient periodic gaits
- The role of impact in the stability of bipedal locomotion
- An optimal control approach to the design of periodic orbits for mechanical systems with impacts
- Intermittency and interior crisis as route to chaos in dynamic walking of two biped robots
- Exponential stability of nonlinear delay systems with delayed impulses: a novel comparison approach
- On the design of stable periodic orbits of a triple pendulum on a cart with experimental validation
- Virtual constraint generators for motion control of robots with degree of underactuation one
- Hybrid zero dynamics of planar bipedal walking
- Review of stability and stabilization for impulsive delayed systems
- Intelligent analysis of chaos roughness in regularity of walk for a two legged robot
- Lyapunov function proof of Poincaré's theorem
- Fixed-time stability of dynamical systems with impulsive effects
- Controlling flat-foot limit cycle walkers with compliant joints based on local stability variation
- Exact and perturbation methods in the dynamics of legged locomotion
- Absolute orientation estimation for observer-based control of a five-link walking biped robot
- A dynamic human motion: coordination analysis
- Adaptive walking control for a biped robot
- Characterizing knee-bounce in bipedal robotic walking: a Zeno behavior approach
- Modeling, control and analysis of a curved feet compliant biped with HZD approach
- Stabilization of aperiodic sampled-data switched affine systems to hybrid limit cycles
- Controllable systems with impacts
- Fixed/predefined-time stability and designing of terminal sliding mode control of impulsive dynamical systems
- Finite-time stability of non-linear systems with impulsive effects due to logic choice
- Periodic motion generation with a time-varying offset for fully actuated torque-driven mechanical systems using energy regulation
- Input torque sensitivity to uncertain parameters in biped robot
- Feedback equivalence of the chained mechanical system to the almost linear form and its use for the sustainable multi-step walking design
- scientific article; zbMATH DE number 2153012 (Why is no real title available?)
- Hybrid decentralized maximum entropy control for large-scale dynamical systems
- A new method for finding the proper initial conditions in passive locomotion of bipedal robotic systems
- Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture
- Periodic motion planning for virtually constrained Euler--Lagrange systems
- A different switching surface stabilizing an existing unstable periodic gait: an analysis based on perturbation theory
- scientific article; zbMATH DE number 6764068 (Why is no real title available?)
- Optimal neurocontroller synthesis for impulse-driven systems
- Bifurcation of limit cycles from a switched equilibrium in planar switched systems
- An invariance principle for nonlinear hybrid and impulsive dynamical systems.
- Lyapunov conditions for finite-time stability of \textit{disturbed} nonlinear impulsive systems
- Models, feedback control, and open problems of 3D bipedal robotic walking
- Continuous uniform finite time stabilization of planar controllable systems
- Effect of upper body motion on biped robot stability
- Stability analysis of bipedal walking with control or monitoring of the center of pressure
- Event-selected vector field discontinuities yield piecewise-differentiable flows
- Generalized solutions in systems with active unilateral constraints
- Stability analysis of bipedal robots using the concept of Lyapunov exponents
- Planar walking control for a five-link biped robot
- Observer-based fault-tolerant control for a class of hybrid impulsive systems
- Discontinuous solutions in the optimal control problems and their representation by singular space-time transformations
- Periodic boundary value problem for non-Lipschitzian impulsive functional differential equations
- Optimal control problems in hybrid systems with active singularities
- A Poincaré-Bendixson theorem for hybrid systems
- Exponential stability of nonlinear state-dependent delayed impulsive systems with applications
- Self-stability of a simple walking model driven by a rhythmic signal
- Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain
- Symmetries and periodic orbits in simple hybrid Routhian systems
- Gait generation and control for biped robots with underactuation degree one
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