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)

Full work available at URL https://doi.org/10.1109/TAC.2002.808489

Mathematics Subject Classification ID

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

Cited in

(6)

• Stability improvement of a dynamic walking system via reversible switching surfaces
• 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
• A novel online gait optimization approach for biped robots with point-feet
• Authors' Reply
• Small-gain based stabilizing control for hybrid systems: application to bipedal walking robot

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