Stability analysis and control design for an underactuated walking robot via computation of a transv

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 17, Issue 1 PART 1, 2008, Pages

  Freidovich, Leonid ^a   Shiriaev, Anton ^a   Manchester, Ian ^a  

^a NONE

Author keywords

Hybrid systems modeling and control; Hybrid systems stability; Nonlinear systems

Indexed keywords

CONTINUOUS TIME; CONTROL DESIGN; CONTROLLED MECHANICAL SYSTEMS; PERIODIC MOTION; STABILITY ANALYSIS; STABILIZING CONTROLLERS; SYSTEM WITH IMPULSE EFFECTS; UNDER-ACTUATED BIPED ROBOT; UNDER-ACTUATION; UNDERACTUATED; WALKING ROBOTS;

CONTINUOUS TIME SYSTEMS; HYBRID COMPUTERS; HYBRID SYSTEMS; MACHINE DESIGN; MOBILE ROBOTS; NONLINEAR SYSTEMS; STABILITY; SYSTEM STABILITY;

CONTROL SYSTEM STABILITY;

EID: 79961017916     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20080706-5-KR-1001.1354     Document Type: Conference Paper

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