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Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: Application to bipedal locomotion

Kaveh Akbari Hamed, Jessy W. Grizzle

Year: 2016
Citations: 24

Keywords

Parameterized complexityControl theory (sociology)UnderactuationMathematicsJacobian matrix and determinantLyapunov functionDynamical systems theoryLinearizationOptimization problemController (irrigation)

Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: Application to bipedal locomotion

Keywords

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