ICRA 2017poster22 citations
Invariant funnels for underactuated dynamic walking robots: New phase variable and experimental validation
Justin Z. Tang, A. Mounir Boudali, Ian R. Manchester
Abstract
We address the problem of finding useful invariant funnels for dynamic walking robots, i.e. sets of initial conditions from which continued walking in a stable manner is guaranteed. The construction is based on transverse dynamics and sum-of-squares verification. This paper makes two main contributions: firstly, we show that for typical models of walking robots the construction of such funnels can be significantly simplified by use of a new phase variable. Secondly, we provide the first hardware validation of the resulting funnels on an experimental testbed.
BibTeX
@inproceedings{icra2017_invariantfunnels,
title = {Invariant funnels for underactuated dynamic walking robots: New phase variable and experimental validation},
author = {Justin Z. Tang and A. Mounir Boudali and Ian R. Manchester},
booktitle = {ICRA 2017},
year = {2017}
}