Rank properties of poincare maps for hybrid systems with applications to bipedal walking

DOI10.1145/1755952.1755975zbMath1360.37066OpenAlexW2160649180MaRDI QIDQ2985876

Eric Wendel, Aaron D. Ames

Publication date: 10 May 2017

Published in: Proceedings of the 13th ACM international conference on Hybrid systems: computation and control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1145/1755952.1755975

zbMATH Keywords

periodic orbitshybrid systemsPoincaré mapsrobotic bipedal walking

Mathematics Subject Classification ID

Equilibria and periodic trajectories for nonlinear problems in mechanics (70K42) Kinematics of mechanisms and robots (70B15) Periodic and quasi-periodic flows and diffeomorphisms (37C55) Hybrid systems of ordinary differential equations (34A38)

Related Items (3)

Rank deficiency and superstability of hybrid systems ⋮ Lyapunov based estimation of the basin of attraction of Poincaré maps with applications to limit cycle walking ⋮ The wheeled three-link snake model: singularities in nonholonomic constraints and stick-slip hybrid dynamics induced by Coulomb friction

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