Control and stability analysis of limit cycles in a hopping robot

IEEE Transactions on Robotics

Volumn 23, Issue 3, 2007, Pages 553-563

  Ahmadi, Mojtaba ^a   Michalska, Hannah ^b   Buehler, Martin ^c  

^a CARLETON UNIVERSITY   (Canada)

^b MCGILL UNIVERSITY   (Canada)

^c Boston Dynamics   (United States)

Author keywords

Hopping robot; Legged robot; Nonlinear control; Passive dynamics; Stability

Indexed keywords

HOPPING ROBOT; LEGGED ROBOT; PASSIVE DYNAMICS;

ACTUATORS; ASYMPTOTIC STABILITY; CONTROL EQUIPMENT; CONVERGENCE OF NUMERICAL METHODS; LYAPUNOV FUNCTIONS; NONLINEAR CONTROL SYSTEMS; STABILITY;

INDUSTRIAL ROBOTS;

EID: 34447296990     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2007.898956     Document Type: Article

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