— This paper first presents a novel control strategy for periodic motion control based on a Hamiltonian system. According to the strategy, hybrid symmetric orbits (ideal walking...
—A new type of global stability is introduced and its equivalent Lyapunov characterization is presented. The problem of global stability of the compact set composed by all invari...
We show a sharp dichotomy between systems of identical automata with a symmetric global control whose behavior is easy to predict, and those whose behavior is hard to predict. The...
Samuel R. Buss, Christos H. Papadimitriou, John N....
In this paper we consider systems which are globally completly observable and output-to-state stable. The former property guarantees the existence of coordinates such that the dyna...
Abstract. In the Humanoid Leagues balancing during walking and running is still the biggest challenge for most of the teams. We present here some work in which a dynamic walker is ...
Norbert Michael Mayer, Minoru Asada, Rodrigo da Si...