English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This paper considers the problem of switching between two periodic motions,also known as limit cycles, to create agile running motions. For each limitcycle, we use a control Lyapunov function to estimate the region of attractionat the apex of the flight phase. We switch controllers at the apex, only if thecurrent state of the robot is within the region of attraction of the subsequentlimit cycle. If the intersection between two limit cycles is the null set, thenwe construct additional limit cycles till we are able to achieve sufficientoverlap of the region of attraction between sequential limit cycles.Additionally, we impose an exponential convergence condition on the controlLyapunov function that allows us to rapidly transition between limit cycles.Using the approach we demonstrate switching between 5 limit cycles in about 5steps with the speed changing from 2 m/s to 5 m/s.

Switching between Limit Cycles in a Model of Running Using Exponentially Stabilizing Discrete Control Lyapunov Function