2015
The basin of attraction for running robots: Fractals, multistep trajectories, and the choice of control
IROS 2015poster
If the control authority of a running system is insufficient to reach a target state in a single step, i.e. if deadbeat control is not possible, then a stabilizing controller is faced with the decision on how to plan intermediate steps. In this work, we compare the performance of a simple greedy con…