Asymptotically stable walking of a five-link underactuated 3-D bipedal robot

IEEE Transactions on Robotics

Volumn 25, Issue 1, 2009, Pages 37-50

  Chevallereau, Christine ^a   Grizzle, J W ^b   Shih, Ching Long ^c  

^a CNRS   (France)

^b UNIVERSITY OF MICHIGAN   (United States)

^c NATIONAL TAIWAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Taiwan)

Author keywords

Humanoid robots; Legged robots; Underactuated robots

Indexed keywords

ACTUATORS; ASYMPTOTIC ANALYSIS; BIPED LOCOMOTION; CLOSED LOOP CONTROL SYSTEMS; CONTROLLERS; DYNAMICS; FEEDBACK; FEEDBACK CONTROL; INTELLIGENT ROBOTS; LINEARIZATION; NONLINEAR CONTROL SYSTEMS; ORBITS; ROBOTICS; STRUCTURES (BUILT OBJECTS); THREE DIMENSIONAL; TIME VARYING SYSTEMS;

A STABILITIES; ASYMPTOTICALLY STABLES; BIPEDAL ROBOTS; BIPEDAL WALKING ROBOTS; CLOSED-LOOP CONTROLS; CONTROLLER DESIGNS; EIGEN VALUES; EVENT-BASED; FEEDBACK CONTROLLERS; HUMANOID ROBOTS; HYBRID ZERO DYNAMICS; LEGGED ROBOTS; NATURAL DYNAMICS; NUMBER OF ACTUATORS; PERIODIC GAITS; PERIODIC ORBITS; POINCARE; ROBOT MODELS; SINGLE-SUPPORT PHASE; STABLE WALKINGS; STRATEGY USE; UNACTUATED; UNDER ACTUATED; UNDERACTUATED ROBOTS; VIRTUAL CONSTRAINTS; WALKING GAITS; WALKING SURFACES; YAW ROTATIONS; ZERO DYNAMICS;

MACHINE DESIGN;

EID: 60549118116     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.2010366     Document Type: Article

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