12 search results - page 2 / 3 » Orbital Control for a Class of Planar Impulsive Hybrid Syste... |
TROB
2002
13 years 8 months ago
2002
Abstract-- This work studies a class of hybrid mechanical systems that locomote by switching between constraints defining different dynamic regimes. We develop a geometric framewor...
HYBRID
2005
Springer
14 years 2 months ago
2005
Springer
We study the class of lazy linear hybrid automata with finite precision. The key features of this class are: – The observation of the continuous state and the rate changes assoc...
CDC
2008
IEEE
14 years 3 months ago
2008
IEEE
Abstract— This paper presents a within-stride feedback controller that achieves an exponentially stable, periodic, and fast walking gait for a 3D bipedal robot consisting of a to...
CDC
2008
IEEE
14 years 3 months ago
2008
IEEE
— A planar compass-like biped on a shallow slope is the simplest model of a passive walker. It is a two-degrees-offreedom impulsive mechanical system known to possess periodic so...
IJRR
2011
13 years 3 months ago
2011
We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important example of such a system is an underactuated “dynam...