Modification-based periodic gait planning for a 3-D bipedal robot with two underactuated DOFs

DOI10.1002/ASJC.2437MaRDI QIDQ6578634zbMATH OpenFDO

Authors Haihui Yuan, Yimin Ge, Chun-Biao Gan

Publication date 25 July 2024

Published in Asian Journal of Control (Search for Journal in Brave)

zbMATH Keywords

parameter optimizationgait modificationperiodic gait planningunderactuated 3-D bipeds

Mathematics Subject Classification ID

Systems theory; control (93-XX)

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Cites work

• A Newton-Raphson method for the solution of systems of equations
• Almost periodic motion planning and control for double rotary pendulum with experimental validation
• Asymptotically stable walking for biped robots: analysis via systems with impulse effects
• Constructive tool for orbital stabilization of underactuated nonlinear systems: virtual constraints approach
• Cyclic gait planning and control of a five-link biped robot with four actuators during single support and double support phases
• Finite-time stabilization of periodic orbits for under-actuated biped walking with hybrid zero dynamics
• Gait generation and stabilization for nearly passive dynamic walking using auto-distributed impulses
• Global adaptive neural network control of underactuated autonomous underwater vehicles with parametric modeling uncertainty
• Hybrid Invariant Manifolds in Systems With Impulse Effects With Application to Periodic Locomotion in Bipedal Robots
• Hybrid zero dynamics of planar biped walkers
• Models, feedback control, and open problems of 3D bipedal robotic walking
• Periodic motions of the Pendubot via virtual holonomic constraints: theory and experiments
• Robust tracking control and stabilization of underactuated ships
• Transverse Linearization for Controlled Mechanical Systems With Several Passive Degrees of Freedom

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