Browsing Investigación by Subject "stability"
Now showing items 1-3 of 3
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Lyapunov Based Stability Analysis for Metro Lines
(2008-06-30)In this work a direct method to measure the stability of metro system lines with respect to a previously constructed time schedule is presented. For this purpose we first model saturation effects using a real time discrete ... -
Methodology for Zero-moment Point Experimental Modeling in the Frequency Domain
(2006-06-28)Frequency domain methodology is applied to obtain a nominal model for the Zero-Moment Point (ZMP) stability index of a biped robot in an attempt to establish a relationship between the robot trunk trajectories and the ... -
Robust Cascade Controller for Nonlinearly Actuated Biped Robots: Experimental Evaluation
(2004-06-26)In this paper we consider the postural stability problem for nonlinearly actuated quasi-static biped robots, both with respect to the joint angular positions and also with reference to the gripping effect between the ...