Switching and pi control of walking motions of planar biped walkers

DOI10.1109/TAC.2002.808489MaRDI QIDQ5266948zbMATH OpenDBLPWikidataFDO

Authors E. R. Westervelt, Jessy W. Grizzle, Carlos Canudas-de-Wit

Publication date 20 June 2017

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

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Automated systems (robots, etc.) in control theory (93C85)

Cited in

(5)

• Stability improvement of a dynamic walking system via reversible switching surfaces
• A novel online gait optimization approach for biped robots with point-feet
• Authors' Reply
• Gait generation and stabilization for nearly passive dynamic walking using auto-distributed impulses
• Identification, stability and stabilization of limit cycles in a compass-gait biped model via a hybrid Poincaré map

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