Practical numerical algorithms for chaotic systems
Practical numerical algorithms for chaotic systems
International Journal of Robotics Research
Introduction to Mechanics and Symmetry: A Basic Exposition of Classical Mechanical Systems
Introduction to Mechanics and Symmetry: A Basic Exposition of Classical Mechanical Systems
Human-data based cost of bipedal robotic walking
Proceedings of the 14th international conference on Hybrid systems: computation and control
Characterizing knee-bounce in bipedal robotic walking: a zeno behavior approach
Proceedings of the 14th international conference on Hybrid systems: computation and control
A stochastic games framework for verification and control of discrete time stochastic hybrid systems
Automatica (Journal of IFAC)
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A 3D biped with knees and a hip is naturally modeled as a nontrivial hybrid system; impacts occur when the knee strikes and when the foot impacts the ground causing a switch in the dynamics governing the system. Through a variant of geometric reduction--termed functional Routhian reduction --we can reduce the dynamics on each domain of this hybrid system to obtain a planar equivalent biped. Using preexisting techniques for obtaining walking gaits for 2D bipeds, and utilizing the decoupling effect afforded by the reduction process, we design control strategies that result in stable walking gaits for the 3D biped. That is, the main result of this paper is a control law that results in 3D bipedal walking obtained through stable walking gaits for the equivalent 2D biped.