Hybrid zero dynamics of planar biped walkers

DOI10.1109/TAC.2002.806653zbMATH Open1364.70015MaRDI QIDQ5266962FDOQ5266962

Authors: E. R. Westervelt, Jessy W. Grizzle, D. E. Koditschek

Publication date: 20 June 2017

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

Kinematics of mechanisms and robots (70B15) Dynamics of multibody systems (70E55) Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Cited In (39)

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A novel online gait optimization approach for biped robots with point-feet
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Virtual constraint generators for motion control of robots with degree of underactuation one
Conley's Fundamental Theorem for a Class of Hybrid Systems
Efficiency study of the non-instantaneous double support phase in HZD controlled bipedal robot
A novel projected Fletcher‐Reeves conjugate gradient approach for finite‐time optimal robust controller of linear constraints optimization problem: Application to bipedal walking robots
An Introduction to Trajectory Optimization: How to Do Your Own Direct Collocation
Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture
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Synthesis of virtual holonomic constraints for obtaining stable constraint dynamics
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Gait generation and control for biped robots with underactuation degree one
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Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: application to bipedal locomotion
First steps toward formal controller synthesis for bipedal robots with experimental implementation
An approximate solution of the SLIP model under the regime of linear angular dynamics during stance and the stability of symmetric periodic running gaits
Physics-based modeling and simulation of human walking: a review of optimization-based and other approaches
Dynamic bipedal walking under stick-slip transitions
Modeling, stability and control of biped robots --- a general framework

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