The promise of legged robots over wheeled robots is to provide improved mobility over
rough terrain. Unfortunately, this promise comes at the cost of a significant increase in …

We propose a constructive control design for stabilization of non-periodic trajectories of
underactuated robots. An important example of such a system is an underactuated “dynamic …

Recent advances in the direct computation of Lyapunov functions using convex optimization
make it possible to efficiently evaluate regions of stability for smooth nonlinear systems …

This study examines the mechanical systems with an arbitrary number of passive (non-
actuated) degrees of freedom and proposes an analytical method for computing coefficients …

A motion planning algorithm is described for bounding over rough terrain with the LittleDog
robot. Unlike walking gaits, bounding is highly dynamic and cannot be planned with quasi …

While legged animals are adept at traversing rough landscapes, it remains a very
challenging task for a legged robot to negotiate unknown terrain. Control systems for legged …

A lack of sufficient actuation power as well as the presence of passive degrees of freedom
are often serious constraints for feasible motions of a robot. Installing passive elastic …

The original Spalart–Allmaras (SA) model is known to predict premature stall when applied
to fan or compressor, which is in line with the observation of other researchers who use the …

This paper derives a differential contraction condition for the existence of an orbitally-stable
limit cycle in an autonomous system. This transverse contraction condition can be …

A planar compass-like biped on a shallow slope is one of the simplest models of a passive
walker. It is a 2-degree-of-freedom (DOF) impulsive mechanical system that is known to …