12 search results - page 1 / 3 » Symmetric Walking Control: Invariance and Global Stability |
ICRA
2005
IEEE
13 years 10 months ago
2005
IEEE
— 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...
CDC
2009
IEEE
13 years 7 months ago
2009
IEEE
—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...
FOCS
1990
IEEE
13 years 8 months ago
1990
IEEE
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...
MCSS
2006
Springer
13 years 4 months ago
2006
Springer
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...
ROBOCUP
2005
Springer
13 years 10 months ago
2005
Springer
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 ...