Related papers: Phase Uncertainty to State Stability of Continuous…
Uneven terrain necessarily transforms periodic walking into a non-periodic motion. As such, traditional stability analysis tools no longer adequately capture the ability of a bipedal robot to locomote in the presence of such disturbances.…
Bipedal robots are a prime example of systems which exhibit highly nonlinear dynamics, underactuation, and undergo complex dissipative impacts. This paper discusses methods used to overcome a wide variety of uncertainties, with the end…
Stability is a key property of dynamical systems. In some cases, we want to change unstable system into stable one to achieve certain goals in engineering. Here, we present an example of a $3$ dimensional switched system that alternates…
We present a continuation method that enables one to track or continue branches of periodic orbits directly in an experiment when a parameter is changed. A control-based setup in combination with Newton iterations ensures that the periodic…
New results concerning the orbital stability of periodic traveling wave solutions for the "abcd" Boussinesq model will be shown in this manuscript. For the existence of solutions, we use basic tools of ordinary differential equations to…
We establish stability results for PD tracking control laws in bipedal walking robots. Stability of PD control laws for continuous robotic systems is an established result, and we extend this for hybrid robotic systems, an alternating…
Depending on the involved physiobiological parameters, stable or unstable behavior in active fluids is observed. In this paper a rigorous analytical justification of (in-)stability within the corresponding regimes is given. In particular,…
Bipedal robots adapt to the environment of the modern society due to the similarity of movement to humans, and therefore they are a good partner for humans. However, maintaining the stability of these robots during walking/running motion is…
A treatment is given of the orbit dynamics for linear unstable motion that allows for the zeros in the beta function and makes no assumptions about the realness of the betatron and phase functions. The phase shift per turn is shown to be…
In a recent Letter, Hunt and Ott argued that SHORT-period unstable periodic orbits (UPOs) would be the invariant sets associated with a chaotic attractor that are most likely to optimize the time average of some smooth scalar performance…
We investigate the processes of synchronization and phase ordering in a system of globally coupled maps possessing bistable, chaotic local dynamics. The stability boundaries of the synchronized states are determined on the space of…
The periodic modulation of an oscillator's frequency can lead to so-called parametric oscillations at half the driving frequency, which display bistability between two states whose phases differ by \pi. Such phase-locking bistability is at…
By varying a parameter of a one-dimensional piecewise smooth map, stable periodic orbits are observed. In this paper, complete analytic characterization of these stable periodic orbits is obtained. An interesting relationship between the…
This article studies stochastic relative phase stability, i.e., stochastic phase-cohesiveness, of discrete-time phase-coupled oscillators. Stochastic phase-cohesiveness in two types of networks is studied. First, we consider oscillators…
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two legs, and passive (unactuated) point feet. The contact between…
We report a remarkable type of bifurcation: by varying real parameters, unstable complex orbits may become stable over wide parameter ranges. Thus, phase diagrams obtained by analizing solely the stability of real solutions may be…
This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. First, novel classes of certificate functions, namely…
The steady states of dynamical processes can exhibit stable nontrivial phases, which can also serve as fault-tolerant classical or quantum memories. For Markovian quantum (classical) dynamics, these steady states are extremal eigenvectors…
This paper deals with the classical problem of exploring a ring by a cohort of synchronous robots. We focus on the perpetual version of this problem in which it is required that each node of the ring is visited by a robot infinitely often.…
Piecewise smooth maps are known to exhibit a wide range of dynamical features including numerous types of periodic orbits. Predicting regions in parameter space where such periodic orbits might occur and determining their stability is…