Stability Analysis and Control of Rigid-Body Systems with Impacts and Friction
Many critical tasks in robotics, such as locomotion or manipulation, involve collisions between a rigid body and the environment or between multiple bodies. Methods based on sums-of-squares (SOS) for numerical computation of Lyapunov certificates are a powerful tool for analyzing the stability of co...
| Main Authors: | , , |
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| Other Authors: | , |
| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE),
2020-03-31T19:00:51Z.
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| Subjects: | |
| Online Access: | Get fulltext |