Switching and pi control of walking motions of planar biped walkers

DOI10.1109/TAC.2002.808489zbMATH Open1364.93525DBLPjournals/tac/WesterveltGW03WikidataQ60349201 ScholiaQ60349201MaRDI QIDQ5266948FDOQ5266948

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)

• 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
• Stability improvement of a dynamic walking system via reversible switching surfaces
• Authors' Reply
• Gait generation and stabilization for nearly passive dynamic walking using auto-distributed impulses

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