Hybrid Lyapunov-based feedback stabilization of bipedal locomotion based on reference spreading.
Riccardo BertolloGianni LunardiAndrea Del PreteLuca ZaccarianPublished in: CoRR (2024)
Keyphrases
- closed loop
- control theory
- control scheme
- stability analysis
- neural network
- asymptotic stability
- user feedback
- reference frame
- autonomous robots
- sufficient conditions
- class of nonlinear systems
- rough terrain
- feedback control
- hybrid learning
- humanoid robot
- dynamical systems
- dynamic environments
- relevance feedback
- artificial neural networks