@ARTICLE{Hamed_Grizzle_Event_Based_IEEE_TRO,
author={Akbari Hamed, K. and Grizzle, J.W.},
journal={Robotics, IEEE Transactions on},
title={Event-Based Stabilization of Periodic Orbits for Underactuated {3-D} Bipedal Robots With Left-Right Symmetry},
year={2014},
month={April},
volume={30},
number={2},
pages={365-381},
keywords={actuators;continuous systems;differential equations;discrete systems;feedback;legged locomotion;linear matrix inequalities;optimal control;periodic control;robust control;ATRIAS 2.1;LMI;Poincare map;continuous actions;differential equation;discrete actions;discrete map;event-based stabilization;feedback controllers;feedback design problem;impact event;lateral stability enhancement;left-right symmetry;linear matrix inequalities;nonparametric uncertainty;nonstance leg;parametric uncertainty;periodic orbits;point feet;robust optimal control;series-compliant actuators;simulation model;stance phase;underactuated 3D bipedal robots;walking surface;Friction;Legged locomotion;Orbits;Robustness;Solid modeling;Torso;Legged robots;nonlinear control;stability;underactuated robots},
doi={10.1109/TRO.2013.2287831},
ISSN={1552-3098},}

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