Extending Equilibria to Periodic Orbits for Walkers using Continuation Methods

TitleExtending Equilibria to Periodic Orbits for Walkers using Continuation Methods
Publication TypeConference Paper
Year of Publication2014
AuthorsRosa, N., and K. M. Lynch
Conference Name2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
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Notes: 

A minor error in the code of the compass-gait dynamics was found after publication (a cos() should've been a sin() in one entry of the Coriolis matrix). The updates to Figures 3-4 were made after publication.

The following video summarizes the main results: .

The IROS 2014 presentation is also available on YouTube.