Hybrid zero dynamics of planar biped walkers

@article{Westervelt2003HybridZD,
  title={Hybrid zero dynamics of planar biped walkers},
  author={Eric R. Westervelt and Jessy W. Grizzle and Daniel E. Koditschek},
  journal={IEEE Trans. Automat. Contr.},
  year={2003},
  volume={48},
  pages={42-56}
}
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 planar bipedal systems that have one degree-of-freedom greater than the number of available actuators. The within-step control action creates an attracting invariant set—a two-dimensional zero dynamics submanifold of the full hybrid model—whose restriction dynamics admits a scalar linear time-invariant… CONTINUE READING
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