Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map
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Publication:6113691
DOI10.1007/s11071-020-05851-9zbMath1516.93194OpenAlexW3048123009MaRDI QIDQ6113691
Hassène Gritli, Wafa Znegui, Safya Belghith
Publication date: 9 August 2023
Published in: Nonlinear Dynamics (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1007/s11071-020-05851-9
stabilizationanalytical methodLMI approachimpulsive hybrid nonlinear dynamicscontrolled Poincaré mapcompass-gait biped robottime-t map
Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Kinematics of mechanisms and robots (70B15) Impulsive control/observation systems (93C27)
Related Items (4)
Walking dynamics of a semi-passive compass-like robot with impulse thrust ⋮ A new method for finding the proper initial conditions in passive locomotion of bipedal robotic systems ⋮ A new Poincaré map for investigating the complex walking behavior of the compass-gait biped robot ⋮ Neimark-Sacker bifurcation and controlling chaos in a three-species food chain model through the OGY method
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