Hybrid zero dynamics of planar biped walkers

By Eric R. Westervelt, Jessy W. Grizzle, Daniel E. Koditschek. IEEE Transactions on Automatic Control, 2003

922 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/b21ad4957ad5d94f5b850cf9b4faee21f4132300

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In Biomedical Engineering

In Control and Systems Engineering

Citations in the corpus

Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics (2014, methodology): “Analogous to the case of non-hybrid systems in (1), we will begin with the assumption that the hybrid system already has a hybrid zero dynamics ([28], [52]), which is a manifold that is invariant under both the continuous and the discrete dynamics of the hybrid system.”
HumanPlus: Humanoid Shadowing and Imitation from Humans (2024, background): “While model-based control [16, 36, 40, 55, 69, 92, 98] has made tremendous progress on a wide variety of humanoid robots [13, 32, 37, 54, 65, 89], learning-based meth-ods can achieve robust locomotion performance for humanoids [39, 67, 68, 85, 91, 94, 103] and biped robots [4, 42, 44, 45, 83, 84,…”
Asymptotically Stable Walking of a Five-Link Underactuated 3-D Bipedal Robot (2009, methodology): “Virtual constraints The method of virtual constraints, which has proven very successful in designing feedback controllers for stable walking in planar bipeds [10], [18], [2], [26], will be applied to the 3D biped of the previous section.”
Models, feedback control, and open problems of 3D bipedal robotic walking (2014, background): “Virtual constraints and hybrid zero dynamics originated in the study of underactuated, planar bipedal locomotion in [59, 211]; a synthesis of these methods can be found in [213].”
The Dynamics of Legged Locomotion: Models, Analyses, and Challenges (2006, background): “The same model also describes the gross dynamics of legged machines such as RHex [13] [11] [208], and as we shall show in section 5, a second template model”
A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL (2011, methodology): “As in Westervelt et al. (2003) and Westervelt et al. (2007), this is most easily done by posing an optimization problem, such as minimum energy per step length, subject to constraints to meet periodicity, workspace and actuator limitations, and desired walking speed.”
Dynamic Walking with Compliance on a Cassie Bipedal Robot (2019, background): “ple is the HZD framework [30], which has been effective in both theory and experiments for walking [6] and running [15].”
Biped walking stabilization based on linear inverted pendulum tracking (2010, background): “In this view, a system has no explicit walking pattern as a function of time but has basin of attraction [2]–[4].”
An Introduction to Trajectory Optimization: How to Do Your Own Direct Collocation (2017, methodology): “For the five-linke biped walking gait example we chose parameters for our model to match the walking robot RABBIT [13, 66] which are reproduced here in Table 4.”
Humanoid robots learning to walk faster: from the real world to simulation and back (2013, background): “Such works include [7], [13], [27], and [32].”
Feedback Control of Dynamic Bipedal Robot Locomotion (2007, methodology): “The stability analyses performed on the basis of finite-time convergence and the restricted Poincaré map are based on [98] and [245], while the result using sufficiently rapid exponential convergence was taken from [161].”
Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid (2012, background): “Another approach to locomotion control identifies relationships between the degrees of freedom of a robot that lead to a steady gait (Westervelt et al. 2003).”