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• W2013620744 abstract "Hybrids systems are combinations of continuous and discrete systems. The bouncing ball is an extensively studied hybrid system, for which many solid Lyapunov-based tools are now available. Toward applying these tools to walking robots, where a hybrid dynamical system framework is also a natural fit, the rimless wheel provides a salient dynamic model because it shares commonalities with both bouncing balls and two-legged robots. While much of existing locomotion research is based on Poincaré analysis, in this paper we also study the rimless wheel using Lyapunov-based tools. Our results motivate future use of Poincaré maps for certain hybrid systems and Lyapunov-based tools for more complicated walkers." @default.
• W2013620744 created "2016-06-24" @default.
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• W2013620744 date "2014-12-01" @default.
• W2013620744 modified "2023-09-25" @default.
• W2013620744 title "Lyapunov-based versus Poincar&#x00E9; map analysis of the rimless wheel" @default.
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• W2013620744 doi "https://doi.org/10.1109/cdc.2014.7039614" @default.
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