Modeling, stability and control of biped robots --- a general framework

DOI10.1016/j.automatica.2004.01.031zbMath1155.93393OpenAlexW2156018100MaRDI QIDQ705463

Bernard 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

zbMATH Keywords

Hybrid systemBiped robotsComplementarity conditionsControl synthesisGait stabilityMultiple impact lawsNon-smooth mechanicsUnilateral constraints

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Contact in solid mechanics (74M15) Asymptotic stability in control theory (93D20) Kinematics of mechanisms and robots (70B15)

Related Items (17)

Bipedal locomotion: toward unified concepts in robotics and neuroscience ⋮ Analytic solution for planar indeterminate impact problems using an energy constraint ⋮ Physics-based modeling and simulation of human walking: a review of optimization-based and other approaches ⋮ Lyapunov stability of a rigid body with two frictional contacts ⋮ Painlevé's paradox and dynamic jamming in simple models of passive dynamic walking ⋮ Rank deficiency and superstability of hybrid systems ⋮ Asymptotic analysis of Painlevé's paradox ⋮ Investigation of Painlevé's paradox and dynamic jamming during mechanism sliding motion ⋮ Fault-reconstruction-based cascaded sliding mode observers for descriptor linear systems ⋮ Models, feedback control, and open problems of 3D bipedal robotic walking ⋮ Trajectory tracking for a particle in elliptical billiards ⋮ Finite time stabilization of a perturbed double integrator with unilateral constraints ⋮ The complementarity class of hybrid dynamical systems ⋮ Nonlinear dynamics and control of an inertially actuated jumper robot ⋮ Impact forces and agility in legged robot locomotion ⋮ Dynamics and energetics of a class of bipedal walking systems ⋮ Dynamic Bipedal Walking under Stick-Slip Transitions

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