LOCOMOTION
Stability Analysis and Control Design for an Underactuated Walking Robot via Computation of a Transverse Linearization
Leonid B. Freidovich, Anton Shiriaev, Ian R. Manchester
- Year
- 2008
- Citations
- 49
Keywords
UnderactuationControl theory (sociology)LinearizationRobotTransverse planeImpulse (physics)Feedback linearizationComputationStability (learning theory)Exponential stability
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