control Lyapunov function

Input to state stabilizing control lyapunov functions for robust bipedal robotic locomotion
This paper analyzes the input to state stability properties of controllers which stabilize hybrid periodic orbits. Systems that are …
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Input to state stabilizing control lyapunov functions for robust bipedal robotic locomotion
Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion
Implementing state-based parameterized periodic trajectories on complex robotic systems, e.g., humanoid robots, can lead to instability …
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Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion
Embedding of slip dynamics on underactuated bipedal robots through multi-objective quadratic program based control
This paper presents a method for achieving stable periodic walking, consisting of phases of single and double support, on underactuated …
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Embedding of slip dynamics on underactuated bipedal robots through multi-objective quadratic program based control