Controlled Reduction With Unactuated Cyclic Variables: Application to 3D Bipedal Walking With Passive Yaw Rotation

DOI10.1109/TAC.2013.2256011MaRDI QIDQ5353383zbMATH OpenWikidataFDO

Authors Robert D. Gregg IV, Ludovic Righetti

Publication date 8 September 2017

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

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

Cited in

(3)

• Adaptive control of unactuated dynamical systems through interconnections: stability and performance guarantees
• Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: application to bipedal locomotion
• The role of symmetry and dissipation in biolocomotion

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