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On the Lyapunov stability of quasistatic planar biped robots

Várkonyi, Péter L. and Gontier, David and Burdick, Joel W. (2012) On the Lyapunov stability of quasistatic planar biped robots. In: 2012 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 63-70. ISBN 978-1-4673-1403-9.

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We investigate the local motion of a planar rigid body with unilateral constraints in the neighborhood of a two-contact frictional equilibrium configuration on a slope. A new sufficient condition of Lyapunov stability is developed in the presence of arbitrary external forces. Additionally, we construct an example, which is stable against perturbations by infinitesimal forces, but does not possess Lyapunov stability against infinitesimal displacements or impulses. The great difference between previous stability criteria and ours leads to further questions about the nature of the exact stability condition.

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Additional Information:© 2012 IEEE. We thank for useful comments of Yzhar Or. PLV and DG also thank for the hospitality of Caltech Robotics Group. PLV was supported by a Bolyai Research Fellowship.
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Budapest University of TechnologyUNSPECIFIED
Record Number:CaltechAUTHORS:20190621-141831037
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Official Citation:P. L. Várkonyi, D. Gontier and J. W. Burdick, "On the Lyapunov stability of quasistatic planar biped robots," 2012 IEEE International Conference on Robotics and Automation, Saint Paul, MN, 2012, pp. 63-70. doi: 10.1109/ICRA.2012.6225139
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96633
Deposited By: Tony Diaz
Deposited On:23 Jun 2019 14:26
Last Modified:03 Oct 2019 21:24

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