Asymptotically stable running for a five-link, four-actuator, planar bipedal robot

International Journal of Robotics Research

Volumn 24, Issue 6, 2005, Pages 431-464

  Chevallereau, C ^a   Westervelt, E R ^b   Grizzle, J W ^c  

^a ECOLE CENTRALE DE NANTES   (France)

^b Ohio State University   (United States)

^c University of Michigan   (United States)

Author keywords

Biped robots; Hybrid systems; Hybrid zero dynamics; Nonlinear control; Periodic orbits; Poincar return maps; Zero dynamics

Indexed keywords

ACTUATORS; COMPUTER SIMULATION; GAIT ANALYSIS; HEURISTIC METHODS; MATHEMATICAL MODELS; ROBOTS;

BIPED ROBOTS; HYBRID SYSTEMS; HYBRID ZERO DYNAMICS; PERIODIC ORBITS; POINCARÉ RETURN MAPS; ZERO DYNAMICS;

BIPED LOCOMOTION;

EID: 19344369521     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/0278364905054929     Document Type: Article

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