Fast Motions in Biomechanics and Robotics

capture region linear inverted pendulum maximum continuous torque autonomous robots time polynomial systems local divergence exponents stable periodic gaits leg touchdown angle second control law finite horizon optimal control problem proposed feedback algorithm polynomial optimization problem swing leg angle stance leg angle first control law swing leg motion nonlinear model predictive control leg retraction virtual constraints touchdown protocol positive force feedback direct multiple shooting local dynamic stability gait family brachiation robot