The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper
DOI10.1109/TAC.2009.2024565zbMATH Open1367.70003OpenAlexW2121829700MaRDI QIDQ4974686FDOQ4974686
Authors: Ioannis Poulakakis, Jessy W. Grizzle 
Publication date: 8 August 2017
Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1109/tac.2009.2024565
Kinematics of mechanisms and robots (70B15) Automated systems (robots, etc.) in control theory (93C85) Holonomic systems related to the dynamics of a system of particles (70F20)
Cited In (6)
- Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper
- Modeling, control and analysis of a curved feet compliant biped with HZD approach
- Models, feedback control, and open problems of 3D bipedal robotic walking
- The salted Kalman filter: Kalman filtering on hybrid dynamical systems
- Conley's fundamental theorem for a class of hybrid systems
- An approximate solution of the SLIP model under the regime of linear angular dynamics during stance and the stability of symmetric periodic running gaits
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