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PRELIMINARIES Introduction Two Test Beds for Theory MODELING, ANALYSIS, AND CONTROL OF ROBOTS WITH PASSIVE POINT FEET Modeling of Planar Bipedal Robots with Point Feet Periodic Orbits and Poincare… Expand
Biped robots form a subclass of legged or walking robots. The study of mechanical legged motion has been motivated by its potential use as a means of locomotion in rough terrain, as well as its… Expand
Hybrid vehicle techniques have been widely studied recently because of their potential to significantly improve the fuel economy and drivability of future ground vehicles. Due to the… Expand
Planar, underactuated, biped walkers form an important domain of applications for hybrid dynamical systems. This paper presents the design of exponentially stable walking controllers for general… Expand
Describes the design, construction and control of an experimental bipedal robot platform for the study of walking.
This paper develops a control methodology that unifies control barrier functions and control Lyapunov functions through quadratic programs. The result is demonstrated on adaptive cruise control,… Expand
Safety critical systems involve the tight coupling between potentially conflicting control objectives and safety constraints. As a means of creating a formal framework for controlling systems of this… Expand
The convergence aspects of the extended Kalman lter, when used as a deterministic observer for a nonlinear discrete-time system, are analyzed. To a certain extent, the results parallel those of … Expand
This paper addresses the problem of exponentially stabilizing periodic orbits in a special class of hybrid models-systems with impulse effects-through control Lyapunov functions. The periodic orbit… Expand
Consider a given dynamical system, described by ẋ = f(x) (wheref is a nonlinear function) and [x0] a subset ofR. We present an algorithm, based on interval analysis, able to show that there exists a… Expand