Linearizing gravity around a thigh angle in a reduced model of a balanced-link biped with knees enables asymptotically stable gait generation and instantaneous walkability determination via discrete iteration.
Asano, ``Stability analysis of underactuated compass gait based on linearization of motion,'' Multibody System Dynamics , Vol
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Asymptotically Stable Gait Generation and Instantaneous Walkability Determination for Planar Almost Linear Biped with Knees
Linearizing gravity around a thigh angle in a reduced model of a balanced-link biped with knees enables asymptotically stable gait generation and instantaneous walkability determination via discrete iteration.