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Award ID contains: 2043464

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  1. ; (, IEEE)
    Free, publicly-accessible full text available August 25, 2026
  2. ; ; (, 2024 4th Modeling, Estimation and Control Conference)
    The problems of changing the walking speed and stride length of impact-free gaits for point-foot planar bipeds are addressed. The impact-free gaits are designed using an approach developed in prior work. It is shown that the impulse controlled Poincar´e map (ICPM) approach can be modified to transition between orbits defining gaits with different walking speeds, and the continuous controller can be changed during the swing phase to transition between gaits that have distinct stride lengths. The effectiveness of the approaches is demonstrated using simulations carried out on a five-link biped. 
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    Accepted Manuscript Full Text Available
  3. ; (, ASME Journal of Applied Mechanics)
    Accepted Manuscript Full Text Available
  4. ; ; (, IEEE robotics automation letters)
    Accepted Manuscript Full Text Available
  5. ; ; (, Nonlinear Dynamics)
    Full Text Available 
  6. ; (, IEEE Control Systems Letters)
    Full Text Available 
  7. ; ; (, Nonlinear dynamics)
    Full Text Available 
  8. ; (, Nonlinear dynamics)
    Full Text Available