Decomposition of existence and stability analysis of periodic solutions of systems with impacts: Application to bipedal walking robot

Abstract

The decomposition of the problem of existence and stability for fast periodic solutions of singularly perturbed nonlinear systems with the impact effects is considered. With this aim, theorem for existence and stability of fixed points for corresponding Poincare sections is proved. These results are applied for the decomposition of the control design problem for bipedal robots with heavy torsos.