Communications of the ACM
Legged robots that balance
SIAM Journal on Control and Optimization
Practical numerical algorithms for chaotic systems
Practical numerical algorithms for chaotic systems
Analysis of a simplified hopping robot
International Journal of Robotics Research
Finite-Time Stability of Continuous Autonomous Systems
SIAM Journal on Control and Optimization
Robot Dynamics and Control
Modeling, Identification and Control of Robots
Modeling, Identification and Control of Robots
Nonlinear Control Systems
Hybrid Systems II
Dynamic locomotion with a hexapod robot
Dynamic locomotion with a hexapod robot
Toward a coherent framework for the control of planar biped locomotion
Toward a coherent framework for the control of planar biped locomotion
A dynamic object manipulation approach to dynamic biped locomotion
Robotics and Autonomous Systems
Dynamics modeling and trajectory tracking control for humanoid jumping robot
WSEAS Transactions on Computers
Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems
HSCC '09 Proceedings of the 12th International Conference on Hybrid Systems: Computation and Control
MABEL, a new robotic bipedal walker and runner
ACC'09 Proceedings of the 2009 conference on American Control Conference
Planar bipedal jumping gaits with stable landing
IEEE Transactions on Robotics
Integral sliding mode control of a bipedal leap
International Journal of Robotics and Automation
Running with improved disturbance rejection by using non-linear leg springs
International Journal of Robotics Research
Dynamical movement primitives: Learning attractor models for motor behaviors
Neural Computation
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Provably asymptotically stable running gaits are developed for the five-link, four-actuator bipedal robot, RABBIT. A controller is designed so that the Poincaré return map associated with periodic running gaits can be computed on the basis of a model with impulse effects that, previously, had been used only for the design of walking gaits. This feedback design leads to the notion of a hybrid zero dynamics for running, which in turn allows the existence and stability of running gaits to be determined on the basis of a scalar map. The main results are illustrated via simulations performed on models with known parameters and on models with parameter uncertainty and structural changes. Animations of the resulting running motions are available on the web.