Hybrid invariant manifolds in systems with impulse effects with application to periodic locomotion in bipedal robots

IEEE Transactions on Automatic Control

Volumn 54, Issue 8, 2009, Pages 1751-1764

  Morris, Benjamin ^a   Grizzle, Jessy W ^b  

^a EATON CORPORATION   (United States)

^b UNIVERSITY OF MICHIGAN   (United States)

Author keywords

Bipedal robots; Hybrid systems; Underactuated systems; Zero dynamics

Indexed keywords

BIPEDAL ROBOT; BIPEDAL ROBOTS; CLOSED-LOOP; CONTROL PARAMETERS; HYBRID ZERO DYNAMICS; IMPACT SENSITIVITIES; IMPULSE EFFECT; INVARIANT MANIFOLDS; JACOBIAN LINEARIZATION; LOCAL COORDINATE TRANSFORMS; NOVEL CONSTRUCTION; PERIODIC ORBITS; POINCARE; RETURN MAP; SENSITIVITY-MATRIX; SIMULATION EXAMPLE; STABLE WALKING; SYSTEM WITH IMPULSE EFFECTS; TRANSVERSE DYNAMICS; TRIANGULAR STRUCTURES; UNDERACTUATED SYSTEMS; VECTOR FIELDS; ZERO DYNAMICS;

BIPED LOCOMOTION; CHAOS THEORY; CONTROL SYSTEM ANALYSIS; DYNAMICS; ELECTRIC GROUNDING; HYBRID COMPUTERS; HYBRID SYSTEMS; LINEARIZATION; NONLINEAR CONTROL SYSTEMS; PERIODIC STRUCTURES; ROBOTS;

SYSTEM STABILITY;

EID: 68949181692     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2009.2024563     Document Type: Article

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