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— It is known that for a large magnitude push a human or a humanoid robot must take a step to avoid a fall. Despite some scattered results, a principled approach towards " When and where to take a step " has not yet emerged. Towards this goal, we present methods for computing Capture Points and the Capture Region, the region on the ground where a humanoid… (More)

— We present an analysis of a point mass, point foot, planar inverted pendulum model for bipedal walking. Using this model, we derive expressions for a conserved quantity, the " Orbital Energy " , given a smooth Center of Mass trajectory. Given a closed form Center of Mass Trajectory, the equation for the Orbital Energy is a closed form expression except… (More)

In this paper we discuss delay estimation in time-delay systems. In the Introduction a short overview is given of some existing estimation techniques as well as identifiability studies. In the following sections we propose several algorithms for the delay identification based on variable structure observers.

In this paper we derive and analyze a discontinuous stabilizing feedback for a Lie algebraic generalization of a class of kinematic nonholonomic systems introduced by Brockett. The algorithm involves discrete switching between isospectral and norm-decreasing ows. We include a rigorous analysis of the convergence. 1. Introduction. In this paper we present a… (More)