Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots
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DOI: 10.1109/lra.2022.3151143
Abstract: Contact-rich robotic systems, such as legged robots and manipulators, are often represented as hybrid systems. However, the stability analysis and region-of-attraction computation for these systems are often challenging because of the discontinuous state changes upon… read more here.
Keywords: region; state resets; reachability; state ... See more keywords