A survey of underactuated mechanical systems
An underactuated mechanical system (UMS) is a system which has fewer independent
control actuators than degrees of freedom to be controlled. Control of UMS is considered as …
control actuators than degrees of freedom to be controlled. Control of UMS is considered as …
[PDF][PDF] Singular perturbations and time scales in control theories and applications: An overview 2002–2012
Y Zhang, DS Naidu, C Cai, Y Zou - Int. J. Inf. Syst. Sci, 2014 - d.umn.edu
This paper presents an overview of singular perturbations and time scales (SPaTS) in
control theory and applications during the period 2002-2012. The previous …
control theory and applications during the period 2002-2012. The previous …
[ΒΙΒΛΙΟ][B] Feedback control of dynamic bipedal robot locomotion
Bipedal locomotion is among the most difficult challenges in control engineering. Most
books treat the subject from a quasi-static perspective, overlooking the hybrid nature of …
books treat the subject from a quasi-static perspective, overlooking the hybrid nature of …
Hybrid zero dynamics of planar biped walkers
Planar, underactuated, biped walkers form an important domain of applications for hybrid
dynamical systems. This paper presents the design of exponentially stable walking …
dynamical systems. This paper presents the design of exponentially stable walking …
[PDF][PDF] Rabbit: A testbed for advanced control theory
RABBIT: A Testbed for Advanced Control Theory Page 1 HAL Id: hal-00794856 https://hal.science/hal-00794856
Submitted on 26 Feb 2013 HAL is a multi-disciplinary open access archive for the deposit …
Submitted on 26 Feb 2013 HAL is a multi-disciplinary open access archive for the deposit …
Modeling, stability and control of biped robots—a general framework
The focus of this survey is the modeling and control of bipedal locomotion systems. More
specifically, we seek to review the developments in the field within the framework of stability …
specifically, we seek to review the developments in the field within the framework of stability …
[ΒΙΒΛΙΟ][B] Virtual decomposition control: toward hyper degrees of freedom robots
WH Zhu - 2010 - books.google.com
Driven by the need to achieve superior control performances for robots with hyper degrees
of freedom, the virtual decomposition control approach is thoroughly presented in this book …
of freedom, the virtual decomposition control approach is thoroughly presented in this book …
Passivity-based control of bipedal locomotion
In this article, we have shown how to design energy-based and passivity-based control laws
that exploit the existence of passive walking gaits to achieve walking on different ground …
that exploit the existence of passive walking gaits to achieve walking on different ground …
Asymptotically stable running for a five-link, four-actuator, planar bipedal robot
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 …
bipedal robot, RABBIT. A controller is designed so that the Poincaré return map associated …
A brief review of dynamics and control of underactuated biped robots
S Gupta, A Kumar - Advanced Robotics, 2017 - Taylor & Francis
Humans as bipeds enjoy certain advantages over other terrestrial systems, which motivate
us to study and develop biped robots. Underactuated biped robots adopt the energy efficient …
us to study and develop biped robots. Underactuated biped robots adopt the energy efficient …