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Exponentially stabilizing continuous-time controllers for periodic orbits of hybrid systems: Application to bipedal locomotion with ground height variations.

, , and . I. J. Robotics Res., 35 (8): 977-999 (2016)

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Neural Controller for a 5-Link Planar Biped Robot., and . RO-MAN, page 980-985. IEEE, (2007)Hybrid Zero Dynamics of Bipedal Robots Under Nonholonomic Virtual Constraints., , , and . IEEE Control. Syst. Lett., 3 (2): 386-391 (2019)Distributed Controllers for Human-Robot Locomotion: A Scalable Approach Based on Decomposition and Hybrid Zero Dynamics., , , and . IEEE Control. Syst. Lett., 5 (6): 1976-1981 (2021)Iterative Robust Stabilization Algorithm for Periodic Orbits of Hybrid Dynamical Systems: Application to Bipedal Running., and . ADHS, volume 48 of IFAC-PapersOnLine, page 161-168. Elsevier, (2015)Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers., , and . ACC, page 4588-4595. IEEE, (2019)First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach., , and . CoRR, (2019)Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach., , , , and . IEEE Robotics and Automation Letters, 5 (1): 56-63 (2020)Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots., , , , and . IEEE Control. Syst. Lett., (2022)Continuous-time controllers for stabilizing periodic orbits of hybrid systems: Application to an underactuated 3D bipedal robot., , and . CDC, page 1507-1513. IEEE, (2014)Preliminary walking experiments with underactuated 3D bipedal robot MARLO., , , , , and . IROS, page 2529-2536. IEEE, (2014)