On the stability of symmetric quadrupedal bounding gaits via factored Poincaré maps.

Xin Liu Ioannis Poulakakis

Published in: ACC (2016)

Keyphrases

legged robots
mobile robot
walking speed
inverted pendulum
feedback controller
upper bound
quadruped robot
state space
humanoid robot
gait recognition
stability analysis
finite dimensional
feedback control
image sequences
closed loop