An almost linear biped

Proceedings of the IEEE Conference on Decision and Control

Volumn 5, Issue , 2000, Pages 4803-4808

  Spong, Mark W ^a   Lozano, Rogelio ^b   Mahony, Robert ^c  

^a University of Illinois at Urbana Champaign   (United States)

^b UNIVERSITÉ DE TECHNOLOGIE DE COMPIÈGNE   (France)

^c MONASH UNIVERSITY   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

APPROXIMATION THEORY; BIPED LOCOMOTION; DEGREES OF FREEDOM (MECHANICS); EQUATIONS OF MOTION; FEEDBACK CONTROL; LINEARIZATION; NONLINEAR EQUATIONS; TORQUE;

FEEDBACK LINEARIZATION; IMPACT EQUATIONS; STABLE WALKING GATE;

NONLINEAR CONTROL SYSTEMS;

EID: 0034440369     PISSN: 01912216     EISSN: None     Source Type: Journal    
DOI: 10.1109/CDC.2001.914688     Document Type: Article

References (10)

1. Continuous finite-time stabilization of the translational and rotational double integrators
2. Poincaré's method for systems with impulse effects: Application to mechanical biped locomotion
3. Walking viability and gait synthesis for a novel class of dynamically-simple bipeds
4. A biped walking machine: Experiments and theory
5. Passive dynamic walking
6. Nonlinear control of the inertia wheel pendulum
7. Underactuated mechanical systems
8. Passivity based control of the compass gait biped