Asymptotically stable walking for biped robots: analysis via systems with impulse effects

DOI10.1109/9.898695zbMATH Open0992.93058OpenAlexW2137547873MaRDI QIDQ4540186FDOQ4540186

Authors: Jesse W. Grizzle, Gabriel Abba, Franck Plestan 

Publication date: 21 July 2002

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.898695

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zbMATH Keywords

nonlinear systemslimit cyclesrobot dynamics

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Dynamical systems in control (37N35) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

Cited In (only showing first 100 items - show all)

• Stability of impulsive systems depending on a parameter
• 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
• Poincaré map and periodic solutions of first-order impulsive differential equations on Moebius stripe
• 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
• Dynamical analysis and performance evaluation of a biped robot under multi-source random disturbances
• 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
• A new adaptive backstepping method for nonlinear control of turbine main steam valve
• Orbital stabilization of underactuated systems using virtual holonomic constraints and impulse controlled Poincaré maps
• Control method of biped locomotion giving asymptotic stability of trajectory
• Identification, stability and stabilization of limit cycles in a compass-gait biped model via a hybrid Poincaré map
• Modeling and finite-time walking control of a biped robot with feet
• Rank deficiency and superstability of hybrid systems
• On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers
• Dynamic virtual holonomic constraints for stabilization of closed orbits in underactuated mechanical systems
• Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems
• Stability improvement of a dynamic walking system via reversible switching surfaces
• Dynamical systems with active singularities: input/state/output modeling and control
• 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
• On the design of stable periodic orbits of a triple pendulum on a cart with experimental validation
• Review of stability and stabilization for impulsive delayed systems
• Intelligent analysis of chaos roughness in regularity of walk for a two legged robot
• Adaptive walking control for a biped robot
• Characterizing knee-bounce in bipedal robotic walking: a Zeno behavior approach
• A dynamic human motion: coordination analysis
• Modeling, control and analysis of a curved feet compliant biped with HZD approach
• Input torque sensitivity to uncertain parameters in biped robot
• Title not available (Why is that?)
• Title not available (Why is that?)
• 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
• Bifurcation of limit cycles from a switched equilibrium in planar switched systems
• Optimal neurocontroller synthesis for impulse-driven systems
• Lyapunov conditions for finite-time stability of \textit{disturbed} nonlinear impulsive systems
• An invariance principle for nonlinear hybrid and impulsive dynamical systems.
• Effect of upper body motion on biped robot stability
• Models, feedback control, and open problems of 3D bipedal robotic walking
• 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
• Observer-based fault-tolerant control for a class of hybrid impulsive systems
• Planar walking control for a five-link biped robot
• 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
• Self-stability of a simple walking model driven by a rhythmic signal
• Hybrid Invariant Manifolds in Systems With Impulse Effects With Application to Periodic Locomotion in Bipedal Robots
• Gait generation and control for biped robots with underactuation degree one
• Conley's fundamental theorem for a class of hybrid systems
• Design an interactive virtual physics environment with uncertainties control to support motion tracking
• On asymptotic stability in impulsive semidynamical systems
• Three-Dimensional Kneed Bipedal Walking: A Hybrid Geometric Approach
• Stability analysis of underactuated compass gait based on linearization of motion
• Stabilization and optimization of linear systems via pathwise state-feedback impulsive control
• An upper-body can improve the stability and efficiency of passive dynamic walking
• Revisiting the stability of 2D passive biped walking: local behavior
• Dynamic bipedal walking under stick-slip transitions
• 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
• Modification-based periodic gait planning for a 3-D bipedal robot with two underactuated DOFs
• A novel online gait optimization approach for biped robots with point-feet
• Hidden attractor in a passive motion model of compass-gait robot
• Finite time stabilization of a perturbed double integrator with unilateral constraints
• Control of systems with time varying unilateral constraints using robust and optimal controllers: A homogeneity framework
• Non-prehensile manipulation of a devil-stick: planar symmetric juggling using impulsive forces
• Exponential stability of nonlinear delay systems with delayed impulses: a novel comparison approach
• Virtual constraint generators for motion control of robots with degree of underactuation one
• Hybrid zero dynamics of planar bipedal walking
• Controlling flat-foot limit cycle walkers with compliant joints based on local stability variation
• Exact and perturbation methods in the dynamics of legged locomotion
• Lyapunov function proof of Poincaré's theorem
• Fixed-time stability of dynamical systems with impulsive effects
• Absolute orientation estimation for observer-based control of a five-link walking biped robot
• Stabilization of aperiodic sampled-data switched affine systems to hybrid limit cycles
• Controllable systems with impacts
• Periodic motion generation with a time-varying offset for fully actuated torque-driven mechanical systems using energy regulation
• Feedback equivalence of the chained mechanical system to the almost linear form and its use for the sustainable multi-step walking design
• A new method for finding the proper initial conditions in passive locomotion of bipedal robotic systems
• Hybrid decentralized maximum entropy control for large-scale dynamical systems
• Continuous uniform finite time stabilization of planar controllable systems
• Stability analysis of bipedal walking with control or monitoring of the center of pressure
• Exponential stability of nonlinear state-dependent delayed impulsive systems with applications
• Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain
• Symmetries and periodic orbits in simple hybrid Routhian systems
• Instability margin analysis for parametrized LTI systems with application to repressilator
• Adaptive tracking control for underactuated mechanical systems with relative degree two
• 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
• An LMI-based design of a robust state-feedback control for the master-slave tracking of an impact mechanical oscillator with double-side rigid constraints and subject to bounded-parametric uncertainty
• Pointwise asymptotic stability in a hybrid system and well-posed behavior beyond Zeno

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