The spring loaded inverted pendulum as the hybrid zero dynamics of an asymmetric hopper

IEEE Transactions on Automatic Control

Volumn 54, Issue 8, 2009, Pages 1779-1793

  Poulakakis, Ioannis ^a   Grizzle, Jessy W ^a  

^a UNIVERSITY OF MICHIGAN   (United States)

Author keywords

Dynamic running; Hybrid Zero Dynamics (HZD); Legged robots; Spring Loaded Inverted Pendulum (SLIP)

Indexed keywords

CENTER-OF-MASS; CLOSED-LOOP; CLOSED-LOOP SYSTEM; CONTROL LAWS; DYNAMIC RUNNING; EVENT-BASED CONTROL; GROUND FORCES; HOLONOMIC CONSTRAINTS; HYBRID CONTROLLER; HYBRID ZERO DYNAMICS; HYBRID ZERO DYNAMICS (HZD); INVARIANT SURFACES; LEGGED ROBOTS; PERIODIC ORBITS; PERIODIC SOLUTION; SECOND LEVEL; SLIP DYNAMICS; SPRING LOADED INVERTED PENDULUM (SLIP); SPRING LOADED INVERTED PENDULUMS; STEADY-STATE BEHAVIORS; TRANSIENT CONDITIONS; TWO-DEGREE-OF-FREEDOM;

BIPED LOCOMOTION; CLOSED LOOP CONTROL SYSTEMS; DYNAMICS; HYBRID SYSTEMS; INFRARED DETECTORS; PENDULUMS;

CONTROLLERS;

EID: 68949196206     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2009.2024565     Document Type: Article

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