Hybrid zero dynamics of planar biped walkers
From MaRDI portal
Publication:5266962
Cited in
(39)- An approximate solution of the SLIP model under the regime of linear angular dynamics during stance and the stability of symmetric periodic running gaits
- Gait generation and control for biped robots with underactuation degree one
- Virtual constraint generators for motion control of robots with degree of underactuation one
- Models, feedback control, and open problems of 3D bipedal robotic walking
- Planar walking control for a five-link biped robot
- Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper
- Stability improvement of a dynamic walking system via reversible switching surfaces
- Control of a bicycle using virtual holonomic constraints
- Efficiency study of the non-instantaneous double support phase in HZD controlled bipedal robot
- A coordinate-free theory of virtual holonomic constraints
- Trajectory tracking for a particle in elliptical billiards
- A novel online gait optimization approach for biped robots with point-feet
- Orbital stabilization of underactuated systems using virtual holonomic constraints and impulse controlled Poincaré maps
- Cyclic gait planning and control of a five-link biped robot with four actuators during single support and double support phases
- Neighboring optimal control for periodic tasks for systems with discontinuous dynamics
- Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: application to bipedal locomotion
- Gait generation and stabilization for nearly passive dynamic walking using auto-distributed impulses
- A remark on controlled Lagrangian approach
- A novel projected fletcher-reeves conjugate gradient approach for finite-time optimal robust controller of linear constraints optimization problem: application to bipedal walking robots
- Walking dynamics of the passive compass-gait model under OGY-based control: emergence of bifurcations and chaos
- Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture
- Physics-based modeling and simulation of human walking: a review of optimization-based and other approaches
- Robot gait synthesis using the scheme of human motions skills development
- Modification-based periodic gait planning for a 3-D bipedal robot with two underactuated DOFs
- Dynamic virtual holonomic constraints for stabilization of closed orbits in underactuated mechanical systems
- Non-prehensile manipulation of a devil-stick: planar symmetric juggling using impulsive forces
- Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain
- Local stability of PD controlled bipedal walking robots
- Periodic motion planning for virtually constrained Euler--Lagrange systems
- On the design of stable periodic orbits of a triple pendulum on a cart with experimental validation
- Conley's fundamental theorem for a class of hybrid systems
- Synthesis of virtual holonomic constraints for obtaining stable constraint dynamics
- Modeling, stability and control of biped robots --- a general framework
- Footstep adjustment for biped push recovery on slippery surfaces
- Adaptive tracking control for underactuated mechanical systems with relative degree two
- First steps toward formal controller synthesis for bipedal robots with experimental implementation
- Invertibility of switched linear systems
- Dynamic bipedal walking under stick-slip transitions
- An introduction to trajectory optimization: how to do your own direct collocation
This page was built for publication: Hybrid zero dynamics of planar biped walkers
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q5266962)
