Gait Generation and Stabilization for Nearly Passive Dynamic Walking Using Auto-distributed Impulses

DOI10.1002/asjc.1206zbMath1346.93274OpenAlexW1918628758MaRDI QIDQ2821268

Jae-Sung Moon, Dušan M. Stipanović, Mark W. Spong

Publication date: 19 September 2016

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

Full work available at URL: https://doi.org/10.1002/asjc.1206

zbMATH Keywords

gait generationspeed regulationauto-distributed impulseslocally robust stabilizationnearly passive dynamic walking

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (3)

Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: analysis of local bifurcations via the hybrid Poincaré map ⋮ Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map ⋮ Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: rise of the Neimark-Sacker bifurcation

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