Title :
Comments on "Control of a Planar Underactuated Biped on a Complete Walking Cycle"
Author :
Brogliato, Bernard
Author_Institution :
INRIA, Saint Ismier
fDate :
5/1/2007 12:00:00 AM
Abstract :
The authors point out several approximations and flaws in the above article by Chemori and Loria (see ibid., vol. 49, no. 5, p. 838-843, 2004)
Keywords :
closed loop systems; legged locomotion; position control; robot dynamics; stability; closed loop systems; global asymptotic uniform stability; mechanical Lagrangian systems; multibody mechanical systems; planar underactuated biped; Adhesives; Asymptotic stability; Differential equations; H infinity control; Lagrangian functions; Legged locomotion; Magnetic forces; Mechanical systems; Robots; Trajectory;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2007.895947
