The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper

DOI10.1109/TAC.2009.2024565MaRDI QIDQ4974686zbMATH OpenOpenAlexFDO

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

Mathematics Subject Classification ID

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)

• An approximate solution of the SLIP model under the regime of linear angular dynamics during stance and the stability of symmetric periodic running gaits
• Models, feedback control, and open problems of 3D bipedal robotic walking
• Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper
• The salted Kalman filter: Kalman filtering on hybrid dynamical systems
• Conley's fundamental theorem for a class of hybrid systems
• Modeling, control and analysis of a curved feet compliant biped with HZD approach

This page was built for publication: The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q4974686)