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Stabilization of unstable limit cycles in a push-off based dynamic walker by reversible switching surfaces

EasyChair Preprint no. 1897

4 pagesDate: November 9, 2019

Abstract

By employing the concept of ”Reversible Switching Surfaces” (RSS), we demonstrate that it is possible to stabilize unstable periodic orbits of a push-off based dynamic walker. The concept is implemented by a simple event-based control which kinematically controls the foot during the swing phase to adjust the heel-strike. The feedback controller is designed based on the theory of Virtual Holonomic Constraints (VHC). Simulation results demonstrate, there exists a broad range of VHC which satisfies stable dynamic walking.

Keyphrases: Dynamic Walking, reversible switching surfaces, stability, virtual holonomic constraints

BibTeX entry
BibTeX does not have the right entry for preprints. This is a hack for producing the correct reference:
@Booklet{EasyChair:1897,
  author = {Rana Danesh and Ali Tehrani Safa and Mahyar Naraghi},
  title = {Stabilization of unstable limit cycles in a push-off based dynamic walker by reversible switching surfaces},
  howpublished = {EasyChair Preprint no. 1897},

  year = {EasyChair, 2019}}
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