Asymptotically stable walking for biped robots: analysis via systems with impulse effects

By Jessy W. Grizzle, G. Abba, Franck Plestan. IEEE Transactions on Automatic Control, 2001

1,072 citations recorded by the source corpus.

Subfields: Automotive Engineering, Biomedical Engineering, Civil and Structural Engineering

View Paper: https://www.semanticscholar.org/paper/e76ff35d93cc777c9a1ca79901b19b52ec2e502a

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Citations in the corpus

Models, feedback control, and open problems of 3D bipedal robotic walking (2014, methodology): “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].”
A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL (2011, methodology): “Research on RABBIT gave rise to the methods of virtual constraints and hybrid zero dynamics (Grizzle et al., 2001; Westervelt et al., 2002, 2003; Morris and Grizzle, 2005; Westervelt et al., 2007), which provide a systematic method of designing asymptotically stable walking controllers.”
> Replace This Line with Your Paper Identification Number (double-click Here to Edit) < 1 (positive): “Starting with a simple 3-link model [17] and followed by a 5-link model [5], we used the techniques of virtual constraints [9], hybrid zero dynamics [21] [14] and event-based control [10] to achieve exponentially stable, periodic walking motions.”
Constructive tool for orbital stabilization of underactuated nonlinear systems: virtual constraints approach (2005, background): “The problem of periodic stabilization of walking mechanism has been studied in [5], [6], and [22].”
Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation (2017, background): “We begin by presenting a brief overview of the hybrid zero dynamics framework [12, 31], which is used to generate dynamic, stable and periodic gaits and to develop a continuous-time controller for walking along a straight line.”
Feedback Control of Dynamic Bipedal Robot Locomotion (2007, methodology): “, the walking motion) with respect to (a scalar-valued function of) the state of the robot, instead of time [14, 98, 244].”
Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics (2014, methodology): “In [16], Hölder continuous feedbacks based on [8] were used to assure finite-time convergence.”
Hybrid zero dynamics of planar biped walkers (2003, neutral): “Following an identical development as in [24], the expression relating the velocity of the robot just before impact,, to the velocity just after (without relabeling), , may be written as”
Asymptotically Stable Walking of a Five-Link Underactuated 3-D Bipedal Robot (2009, methodology): “The symmetry condition (1) then gives the initial state of the first step: qi, q̇i.”