The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper

DOI10.1109/TAC.2009.2024565zbMath1367.70003OpenAlexW2121829700MaRDI QIDQ4974686

Jessy W. Grizzle, Ioannis Poulakakis

Publication date: 8 August 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/tac.2009.2024565

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Kinematics of mechanisms and robots (70B15) Holonomic systems related to the dynamics of a system of particles (70F20)

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Modeling, control and analysis of a curved feet compliant biped with HZD approach ⋮ The salted Kalman filter: Kalman filtering on hybrid dynamical systems ⋮ Models, feedback control, and open problems of 3D bipedal robotic walking ⋮ Conley's Fundamental Theorem for a Class of Hybrid Systems ⋮ Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper

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