Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits
James Zhu,Nathan J. Kong,George Council,Aaron M. Johnson,James Zhu,Nathan J. Kong,George Council,Aaron M. Johnson
Many controllers for legged robotic systems leverage open- or closed-loop control at discrete hybrid events to enhance stability. These controllers appear in several well studied phenomena such as the Raibert stepping controller, paddle juggling, and swing leg retraction. This work introduces hybrid event shaping (HES): a generalized method for analyzing and designing stable hybrid event controlle...
