On the Lyapunov stability of quasistatic planar biped robots.
Péter L. VárkonyiDavid GontierJoel W. BurdickPublished in: ICRA (2012)
Keyphrases
- control law
- lyapunov stability
- autonomous robots
- humanoid robot
- closed loop
- mobile robot
- lyapunov function
- motion planning
- nonlinear systems
- control algorithm
- control system
- control strategy
- robotic systems
- control scheme
- multi robot
- tracking error
- adaptive control
- control theory
- sliding mode
- optimal control
- dynamical systems
- control method
- variable structure
- control parameters
- multi modal