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Variable impedance walking using Time-Varying Lyapunov Stability Margins.

Emmanouil Spyrakos-PapastavridisPeter R. N. ChildsNikos G. Tsagarakis
Published in: Humanoids (2017)
Keyphrases
  • lyapunov stability
  • optimal control
  • nonlinear systems
  • lyapunov function
  • humanoid robot
  • control law
  • input output
  • stability analysis