Lyapunov Stability of Hybrid System Limit Cycle Application to the Compass Gait Biped

Abstract

In this paper a technique using Lyapunov approach for stability analysis of hybrid limit cycle is proposed. The system under consideration is a compass-like biped robot which has continuous dynamic with impulsive effects. After system feedback linearization, we use Lyapunov direct method with LMI formulation to proove stability of the robot periodic gait.