Concepedia

Hybrid Zero Dynamics

Hybrid Zero Dynamics is a mathematical framework within underactuated robot dynamics that characterizes the invariant low-dimensional subsystem governing the stable, constrained motion of hybrid mechanical systems subject to both continuous dynamics and discrete impacts.

83

Publications

5.2K

Citations

104

Authors

51

Institutions

Publications per year

2017–2026

27

Parents

Publications

83

Hybrid zero dynamics of planar biped walkers

E. R. Westervelt, Jessy W. Grizzle, Daniel E. Koditschek · IEEE Transactions on Automatic Control · 2003 · 861 citations · Full text

, , +17

Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics

Aaron D. Ames, Kevin S. Galloway, Koushil Sreenath et al. · IEEE Transactions on Automatic Control · 2014 · 441 citations · Full text

, , +17

A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL

Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis et al. · The International Journal of Robotics Research · 2010 · 348 citations

, , +17

The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper

Ioannis Poulakakis, Jessy W. Grizzle · IEEE Transactions on Automatic Control · 2009 · 268 citations

, , +17

Asymptotically Stable Walking of a Five-Link Underactuated 3-D Bipedal Robot

Christine Chevallereau, Jessy W. Grizzle, Ching‐Long Shih · IEEE Transactions on Robotics · 2009 · 268 citations · Full text

, , +16

1–5 of 83

Authors

104

  1. JW
    Jessy W. Grizzle

    University of Michigan, United States

    20 publications · 3.1K citations

    18

    h-index

  2. AD
    Aaron D. Ames

    California Institute of Technology, United States

    26 publications · 1.5K citations

    18

    h-index

  3. AH
    Ayonga Hereid

    Georgia Institute of Technology, United States

    11 publications · 602 citations

    11

    h-index

  4. IP
    Ioannis Poulakakis

    University of Delaware, United States

    9 publications · 915 citations

    9

    h-index

  5. ER
    E. R. Westervelt

    The Ohio State University, United States

    7 publications · 1.1K citations

    7

    h-index

1–5 of 104

Institutions

51

  1. University of Michigan

    Ann Arbor, United States

    20 h-index

    45 publications

    6.6K citations

  2. Texas A&M University

    College Station, United States

    12 h-index

    29 publications

    1.5K citations

  3. California Institute of Technology

    Pasadena, United States

    9 h-index

    16 publications

    638 citations

  4. Georgia Institute of Technology

    Atlanta, United States

    6 h-index

    16 publications

    881 citations

  5. The University of Texas at Dallas

    Richardson, United States

    6 h-index

    9 publications

    281 citations

  6. University of Delaware

    Newark, United States

    6 h-index

    16 publications

    522 citations

  7. The Ohio State University

    Columbus, United States

    6 h-index

    11 publications

    392 citations

  8. University of Notre Dame

    Notre Dame, United States

    5 h-index

    14 publications

    535 citations

1–8 of 51

Venues

  1. The International Journal of Robotics Research

    IJRR · 6 publications · 771 citations

    6

    h-index

  2. IEEE Transactions on Automatic Control

    5 publications · 1.8K citations

    5

    h-index

  3. IEEE Transactions on Robotics

    3 publications · 352 citations

    3

    h-index

  4. IEEE/ASME Transactions on Mechatronics

    2 publications · 52 citations

    2

    h-index

  5. IEEE Robotics and Automation Letters

    2 publications · 31 citations

    2

    h-index

1–5