Feedback control of an underactuated planar bipedal robot with impulsive foot action

Robotica

Volumn 23, Issue 5, 2005, Pages 567-580

  Choi, Jun Ho ^a   Grizzle, J W ^a  

^a UNIVERSITY OF MICHIGAN   (United States)

Author keywords

Limit cycles; Poincare; Return maps; Robotics; Stable periodic orbits

Indexed keywords

ACTUATORS; FEEDBACK CONTROL; MATHEMATICAL MODELS; MOTION ESTIMATION;

LIMIT CYCLES; POINCARE; RETURN MAPS; STABLE PERIODIC ORBITS;

ROBOTICS;

EID: 25144485912     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574704001250     Document Type: Article

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