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» Symmetric Walking Control: Invariance and Global Stability
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ICRA
2005
IEEE
113views Robotics» more  ICRA 2005»
10 years 4 months ago
Symmetric Walking Control: Invariance and Global Stability
— This paper first presents a novel control strategy for periodic motion control based on a Hamiltonian system. According to the strategy, hybrid symmetric orbits (ideal walking...
Sang-Ho Hyon, Takashi Emura
CDC
2009
IEEE
135views Control Systems» more  CDC 2009»
10 years 1 months ago
On global Lyapunov characterization of multi-stable nonlinear systems
—A new type of global stability is introduced and its equivalent Lyapunov characterization is presented. The problem of global stability of the compact set composed by all invari...
Denis V. Efimov
FOCS
1990
IEEE
10 years 2 months ago
On the Predictability of Coupled Automata: An Allegory about Chaos
We show a sharp dichotomy between systems of identical automata with a symmetric global control whose behavior is easy to predict, and those whose behavior is hard to predict. The...
Samuel R. Buss, Christos H. Papadimitriou, John N....
MCSS
2006
Springer
9 years 10 months ago
Global complete observability and output-to-state stability imply the existence of a globally convergent observer
In this paper we consider systems which are globally completly observable and output-to-state stable. The former property guarantees the existence of coordinates such that the dyna...
Alessandro Astolfi, Laurent Praly
ROBOCUP
2005
Springer
146views Robotics» more  ROBOCUP 2005»
10 years 4 months ago
Using a Symmetric Rotor as a Tool for Balancing
Abstract. In the Humanoid Leagues balancing during walking and running is still the biggest challenge for most of the teams. We present here some work in which a dynamic walker is ...
Norbert Michael Mayer, Minoru Asada, Rodrigo da Si...
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