Invariant funnels for underactuated dynamic walking robots: New phase variable and experimental validation

• Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA) pp. 3497 - 3504
• Main Authors: Tang, Justin Z., Boudali, A. Mounir, Manchester, Ian R.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.05.2017
• Subjects: Hardware; Legged locomotion; Power system stability; Stability analysis; Switches; Trajectory

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 contributi...