Modeling, stability and control of biped robots --- a general framework
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- Chattering and related behaviour in impact oscillators
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- Stability of bipedal stance: the contribution of cocontraction and spindle feedback
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Cited in
(32)- Models, feedback control, and open problems of 3D bipedal robotic walking
- Impact forces and agility in legged robot locomotion
- Asymptotically stable walking for biped robots: analysis via systems with impulse effects
- Hybrid control of biped robots to increase stability in locomotion
- Trajectory tracking for a particle in elliptical billiards
- Asymptotic analysis of Painlevé's paradox
- A novel nonsmooth dynamics method for multibody systems with friction and impact based on the symplectic discrete format
- Rank deficiency and superstability of hybrid systems
- Finite time stabilization of a perturbed double integrator with unilateral constraints
- Control method of biped locomotion giving asymptotic stability of trajectory
- Physics-based modeling and simulation of human walking: a review of optimization-based and other approaches
- Investigation of Painlevé's paradox and dynamic jamming during mechanism sliding motion
- Bipedal locomotion stabilized by impact and switching: I. Two-and three-dimensional, three-element models
- Bipedal locomotion stabilized by impact and switching: II. Structural stability analysis of a four-element bipedal locomotion model
- The role of impact in the stability of bipedal locomotion
- Painlevé's paradox and dynamic jamming in simple models of passive dynamic walking
- A review of optimal and control strategies for dynamic walking bipedal robots
- Dynamic modeling in the simulation, optimization, and control of bipedal and quadrupedal robots
- Local stability of PD controlled bipedal walking robots
- Dynamics and energetics of a class of bipedal walking systems
- Development of a Toolbox for Model-Based Real-Time Simulation and Analysis of Legged Robots
- Numerical estimation of balanced and falling states for constrained legged systems
- Inverse kinematics and inverse dynamics for control of a biped walking machine
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- Analytic solution for planar indeterminate impact problems using an energy constraint
- Revisiting the stability of 2D passive biped walking: local behavior
- Nonlinear dynamics and control of an inertially actuated jumper robot
- Lyapunov stability of a rigid body with two frictional contacts
- \(\mathcal{H}_{\infty}\)-stabilization of a 3D bipedal locomotion under a unilateral constraint
- Bipedal locomotion: toward unified concepts in robotics and neuroscience
- The complementarity class of hybrid dynamical systems
- Dynamic bipedal walking under stick-slip transitions
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