Controlled Reduction With Unactuated Cyclic Variables: Application to 3D Bipedal Walking With Passive Yaw Rotation
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Publication:5353383
DOI10.1109/TAC.2013.2256011zbMATH Open1369.93416WikidataQ30612026 ScholiaQ30612026MaRDI QIDQ5353383FDOQ5353383
Authors: Robert D. Gregg IV, Ludovic Righetti 
Publication date: 8 September 2017
Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)
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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