2 papers
cs.RO2018
Stable Stair-Climbing of a Quadruped Robot
Ali Zamani, Mahdi Khorram, S. Ali A. Moosavian
Synthesizing a stable gait that enables a quadruped robot to climb stairs is the focus of this paper. To this end, first a stable transition from initial to desired configuration i…
cs.RO2018
Switching between Limit Cycles in a Model of Running Using Exponentially Stabilizing Discrete Control Lyapunov Function
Pranav A. Bhounsule, Ali Zamani, Jason Pusey
This paper considers the problem of switching between two periodic motions, also known as limit cycles, to create agile running motions. For each limit cycle, we use a control Lyap…