Exact feedback linearization converts any system into appropriate form such that the controller design becomes convenient for the system. In this technique, control algorithm is developed based on exact feedback linearization through energy control. This approach is applicable to under actuated in which single control input, acceleration of cart, controlled the angle and position of cart. This ...

In this paper, we report on a new stability analysis for hybrid legged locomotion systems based on factorization of return maps. We apply this analysis to a family of models of the Spring Loaded Inverted Pendulum (SLIP) with different leg recirculation strategies. We obtain a necessary condition for the asymptotic stability of those models, which is formulated as an exact algebraic expression d...

This paper presents an interactive locomotion controller using motion capture data and an inverted pendulummodel (IPM). The motion data of a character is decomposed into those of upper and lower bodies, which are then dimension-reduced via what we call hierarchical Gaussian process dynamical model (H-GPDM). The locomotion controller receives the desired walking direction from the user. It is in...

four separate experiments were conducted to study the effects of factors controlling the establishment of explants from two walnut genotypes z60 and z63 (damavand). factors were explant type, sampling time, explant orientation on the growth medium and antioxidants type. the explants were collected from the collection garden of tooyserkan walnuts research station. four explant types (apical meri...

We present an advanced and novel control method to enable actuated Spring Loaded Inverted Pendulum model walk over rough challenging terrains. The high-level philosophy is the decoupling of controls vertical horizontal states. state controlled via Backstepping-Barrier Function (BBF) based quadratic programs: a combination Lyapunov backstepping barrier function, both which provide inequality con...

To use numerical investigation of functional differential equations it is very important to know if difference analogues of the considered differential equations have the reliability to preserve some general properties of these equations, in particular, property of stability. This problem is considered here by investigation of a difference analogue of the linear mathematical inverted pendulum. ...

In order to explore the essence of structural controllability, structural controllability of inverted pendulum is analyzed in this presented study and a sufficient controllability condition of a class of perturbed linear system is obtained, which is essential to prove the structural controllability for the perturbed inverted pendulum. Two different structured models of inverted pendulum are con...

We have fabricated 30 nm In0.7Ga0.3As Inverted-Type HEMTs with outstanding logic performance, scalability and high frequency characteristics. The motivation for this work is the demonstration of reduced gate leakage current in the Inverted HEMT structure. The fabricated devices show excellent Lg scalability down to 30 nm. Lg = 30 nm devices have been fabricated with exhibit gm = 1.27 mS/μm, S =...