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    Modeling, Analysis, and Control of SLIP Running on Dynamic Platforms 

    Source: ASME Letters in Dynamic Systems and Control:;2021:;volume( 001 ):;issue: 002:;page 021007-1
    Author(s): Iqbal, Amir; Mao, Zhu; Gu, Yan
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: The complex dynamic behaviors of legged locomotion on stationary terrain have been extensively analyzed using a simplified dynamic model called the spring-loaded inverted pendulum (SLIP) model. However, legged locomotion ...
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    Adaptive Robust Tracking Control for Hybrid Models of Three-Dimensional Bipedal Robotic Walking Under Uncertainties 

    Source: Journal of Dynamic Systems, Measurement, and Control:;2021:;volume( 143 ):;issue: 008:;page 081007-1
    Author(s): Gu, Yan; Yuan, Chengzhi
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This paper introduces an adaptive robust trajectory tracking controller design to provably realize stable bipedal robotic walking under parametric and unmodeled uncertainties. Deriving such a controller is challenging ...
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    Global-Position Tracking Control for Multi-Domain Bipedal Walking With Underactuation1 

    Source: Journal of Dynamic Systems, Measurement, and Control:;2024:;volume( 147 ):;issue: 001:;page 11003-1
    Author(s): Gao, Yuan; Barhydt, Kentaro; Niezrecki, Christopher; Gu, Yan
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: Accurate control of a humanoid robot's global position (i.e., its three-dimensional (3D) position in the world) is critical to the reliable execution of high-risk tasks such as avoiding collision with pedestrians in a ...
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    Exponential Stabilization of Fully Actuated Planar Bipedal Robotic Walking With Global Position Tracking Capabilities 

    Source: Journal of Dynamic Systems, Measurement, and Control:;2018:;volume( 140 ):;issue: 005:;page 51008
    Author(s): Gu, Yan; Yao, Bin; George Lee, C. S.
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This paper focuses on the development of a model-based feedback controller to realize high versatility of fully actuated planar bipedal robotic walking. To conveniently define both symmetric and asymmetric walking patterns, ...
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    Global-Position Tracking Control for Three-Dimensional Bipedal Robots Via Virtual Constraint Design and Multiple Lyapunov Analysis 

    Source: Journal of Dynamic Systems, Measurement, and Control:;2022:;volume( 144 ):;issue: 011:;page 111001
    Author(s): Gu, Yan;Gao, Yuan;Yao, Bin;Lee, C. S. George
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as “global-position tracking.” This paper ...
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
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