TY - GEN
T1 - On the Lyapunov stability of quasistatic planar biped robots
AU - Várkonyi, Péter L.
AU - Gontier, David
AU - Burdick, Joel W.
PY - 2012/1/1
Y1 - 2012/1/1
N2 - We investigate the local motion of a planar rigid body with unilateral constraints in the neighborhood of a two-contact frictional equilibrium configuration on a slope. A new sufficient condition of Lyapunov stability is developed in the presence of arbitrary external forces. Additionally, we construct an example, which is stable against perturbations by infinitesimal forces, but does not possess Lyapunov stability against infinitesimal displacements or impulses. The great difference between previous stability criteria and ours leads to further questions about the nature of the exact stability condition.
AB - We investigate the local motion of a planar rigid body with unilateral constraints in the neighborhood of a two-contact frictional equilibrium configuration on a slope. A new sufficient condition of Lyapunov stability is developed in the presence of arbitrary external forces. Additionally, we construct an example, which is stable against perturbations by infinitesimal forces, but does not possess Lyapunov stability against infinitesimal displacements or impulses. The great difference between previous stability criteria and ours leads to further questions about the nature of the exact stability condition.
UR - https://www.scopus.com/pages/publications/84864441997
U2 - 10.1109/ICRA.2012.6225139
DO - 10.1109/ICRA.2012.6225139
M3 - Conference contribution
AN - SCOPUS:84864441997
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 63
EP - 70
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -