Modeling, stability and control of biped robots --- a general framework
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Publication:705463
DOI10.1016/J.AUTOMATICA.2004.01.031zbMATH Open1155.93393OpenAlexW2156018100MaRDI QIDQ705463FDOQ705463
B. Brogliato, Frank Génot, Yildirim Hurmuzlu
Publication date: 31 January 2005
Published in: Automatica (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1016/j.automatica.2004.01.031
Hybrid systemBiped robotsComplementarity conditionsControl synthesisGait stabilityMultiple impact lawsNon-smooth mechanicsUnilateral constraints
Kinematics of mechanisms and robots (70B15) Contact in solid mechanics (74M15) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)
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Cited In (22)
- Impact forces and agility in legged robot locomotion
- Control method of biped locomotion giving asymptotic stability of trajectory
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- Dynamic Bipedal Walking under Stick-Slip Transitions
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- Painlevé's paradox and dynamic jamming in simple models of passive dynamic walking
- Dynamics and energetics of a class of bipedal walking systems
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- Lyapunov stability of a rigid body with two frictional contacts
- Development of a Toolbox for Model-Based Real-Time Simulation and Analysis of Legged Robots
- Asymptotic analysis of Painlevé's paradox
- Hybrid control of biped robots to increase stability in locomotion
- Physics-based modeling and simulation of human walking: a review of optimization-based and other approaches
- Inverse kinematics and inverse dynamics for control of a biped walking machine
- Fault-reconstruction-based cascaded sliding mode observers for descriptor linear systems
- Nonlinear dynamics and control of an inertially actuated jumper robot
- Investigation of Painlevé's paradox and dynamic jamming during mechanism sliding motion
- Bipedal locomotion: toward unified concepts in robotics and neuroscience
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