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A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL

The International journal of robotics research, 2011-08, Vol.30 (9), p.1170-1193

2011

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Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL

The International journal of robotics research, 2013-03, Vol.32 (3), p.324-345

2013

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Asymptotically Stable Walking of a Five-Link Underactuated 3-D Bipedal Robot

IEEE transactions on robotics, 2009-02, Vol.25 (1), p.37-50

2009

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Hybrid zero dynamics of planar biped walkers

IEEE transactions on automatic control, 2003-01, Vol.48 (1), p.42-56

2003

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A Finite-State Machine for Accommodating Unexpected Large Ground-Height Variations in Bipedal Robot Walking

IEEE transactions on robotics, 2013-04, Vol.29 (2), p.331-345

2013

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Nonlinear control of mechanical systems with an unactuated cyclic variable

IEEE transactions on automatic control, 2005-05, Vol.50 (5), p.559-576

2005

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SP-SDP for Fuel Consumption and Tailpipe Emissions Minimization in an EVT Hybrid

IEEE transactions on control systems technology, 2010-05, Vol.18 (3), p.673-687

2010

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Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot

The International journal of robotics research, 2005-06, Vol.24 (6), p.431-464

2005

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Experimental Validation of a Framework for the Design of Controllers that Induce Stable Walking in Planar Bipeds

The International journal of robotics research, 2004-06, Vol.23 (6), p.559-582

2004

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Nonlinear control for magnetic levitation of automotive engine vales

IEEE transactions on control systems technology, 2006-03, Vol.14 (2), p.346-354

2006

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Switching and PI control of walking motions of planar biped walkers

IEEE transactions on automatic control, 2003-02, Vol.48 (2), p.308-312

2003

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Observer design for nonlinear systems with discrete-time measurements

IEEE transactions on automatic control, 1995-03, Vol.40 (3), p.395-404

1995

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IEEE_Xplore

From stable walking to steering of a 3D bipedal robot with passive point feet

Robotica, 2012-12, Vol.30 (7), p.1119-1130

2012

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Power management strategy for a parallel hybrid electric truck

IEEE transactions on control systems technology, 2003-11, Vol.11 (6), p.839-849

2003

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Dual-UEGO active catalyst control for emissions reduction: design and experimental validation

IEEE transactions on control systems technology, 2005-09, Vol.13 (5), p.722-736

2005

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IEEE_Xplore

Asymptotically stable walking for biped robots: analysis via systems with impulse effects

IEEE transactions on automatic control, 2001-01, Vol.46 (1), p.51-64

2001

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Feedback control of an underactuated planar bipedal robot with impulsive foot action

Robotica, 2005-09, Vol.23 (5), p.567-580

2005

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A stochastic control strategy for hybrid electric vehicles

2004 American Control Conference Proceedings; Volume 5 of 6, 2004, Vol.5, p.4710-4715 vol.5

2004

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The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper

IEEE transactions on automatic control, 2009-08, Vol.54 (8), p.1779-1793

2009

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IEEE_Xplore

Hybrid Invariant Manifolds in Systems With Impulse Effects With Application to Periodic Locomotion in Bipedal Robots

IEEE transactions on automatic control, 2009-08, Vol.54 (8), p.1751-1764

2009

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IEEE_Xplore

Dynamic modeling of a three-way catalyst for SI engine exhaust emission control

IEEE transactions on control systems technology, 2000-09, Vol.8 (5), p.767-776

2000

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IEEE_Xplore

Compensation for transient chamber wall condition using real-time plasma density feedback control in an inductively coupled plasma etcher

Journal of vacuum science & technology. A, Vacuum, surfaces, and films, 2003-05, Vol.21 (3), p.706-717

2003

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A linear algebraic framework for the analysis of discrete-time nonlinear systems

SIAM journal on control and optimization, 1993-07, Vol.31 (4), p.1026-1044

GRIZZLE, J. W

1993

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Discrete-time control design with positive semi-definite Lyapunov functions

Systems & control letters, 2001, Vol.43 (4), p.287-292

2001

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Asymptotic model matching for nonlinear systems

IEEE transactions on automatic control, 1994-08, Vol.39 (8), p.1539-1550

1994

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IEEE_Xplore

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A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL

Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL

Asymptotically Stable Walking of a Five-Link Underactuated 3-D Bipedal Robot

Hybrid zero dynamics of planar biped walkers

A Finite-State Machine for Accommodating Unexpected Large Ground-Height Variations in Bipedal Robot Walking

Nonlinear control of mechanical systems with an unactuated cyclic variable

SP-SDP for Fuel Consumption and Tailpipe Emissions Minimization in an EVT Hybrid

Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot

Experimental Validation of a Framework for the Design of Controllers that Induce Stable Walking in Planar Bipeds

Nonlinear control for magnetic levitation of automotive engine vales

Switching and PI control of walking motions of planar biped walkers

Observer design for nonlinear systems with discrete-time measurements

From stable walking to steering of a 3D bipedal robot with passive point feet

Power management strategy for a parallel hybrid electric truck

Dual-UEGO active catalyst control for emissions reduction: design and experimental validation

Asymptotically stable walking for biped robots: analysis via systems with impulse effects

Feedback control of an underactuated planar bipedal robot with impulsive foot action

A stochastic control strategy for hybrid electric vehicles

The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper

Hybrid Invariant Manifolds in Systems With Impulse Effects With Application to Periodic Locomotion in Bipedal Robots

Dynamic modeling of a three-way catalyst for SI engine exhaust emission control

Compensation for transient chamber wall condition using real-time plasma density feedback control in an inductively coupled plasma etcher

A linear algebraic framework for the analysis of discrete-time nonlinear systems

Discrete-time control design with positive semi-definite Lyapunov functions

Asymptotic model matching for nonlinear systems

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