Modeling and robust backstepping control of an underactuated quadruped robot in bounding motion

[1]  L. Praly,et al.  Adding integrations, saturated controls, and stabilization for feedforward systems , 1996, IEEE Trans. Autom. Control..

[2]  S. Sastry Nonlinear Systems: Analysis, Stability, and Control , 1999 .

[3]  Zhong-Ping Jiang,et al.  Universal controllers for stabilization and tracking of underactuated ships , 2002, Syst. Control. Lett..

[4]  A. Isidori Nonlinear Control Systems , 1985 .

[5]  Nicolas Marchand,et al.  Discontinuous exponential stabilization of chained form systems , 2003, Autom..

[6]  Ian R. Manchester,et al.  Stable dynamic walking over uneven terrain , 2011, Int. J. Robotics Res..

[7]  Huosheng Hu,et al.  A hybrid approach to fast and accurate localization for legged robots , 2008, Robotica.

[8]  Randy A. Freeman,et al.  Robust Nonlinear Control Design , 1996 .

[9]  Nabil Derbel,et al.  Set point stabilization of a 2DOF underactuated manipulator , 2011, J. Comput..

[10]  Zhiyong Geng,et al.  Robust backstepping control of an underactuated one-legged hopping robot in stance phase , 2009, Robotica.

[11]  Giuseppe Oriolo,et al.  Trajectory Planning and Control for Planar Robots with Passive Last Joint , 2002, Int. J. Robotics Res..

[12]  Martin Buehler,et al.  Preliminary Bounding Experiments in a Dynamic Hexapod , 2002, ISER.

[13]  Alessandro De Luca,et al.  Stabilization of an underactuated planar 2R manipulator , 2000 .

[14]  R. Freeman,et al.  Robust Nonlinear Control Design: State-Space and Lyapunov Techniques , 1996 .

[15]  Ian R. Manchester,et al.  Bounding on rough terrain with the LittleDog robot , 2011, Int. J. Robotics Res..

[16]  Giuseppe Oriolo,et al.  Robust stabilization via iterative state steering with an application to chained-form systems , 2001, Autom..

[17]  C. Samson Control of chained systems application to path following and time-varying point-stabilization of mobile robots , 1995, IEEE Trans. Autom. Control..

[18]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[19]  Zhiyun Lin,et al.  Stable running of a planar underactuated biped robot , 2010, Robotica.

[20]  José António Tenreiro Machado,et al.  Kinematic and dynamic performance analysis of artificial legged systems , 2008, Robotica.