We present a theoretical method for graceful transitions between distinct periodic orbits of a
fully actuated walking robot. First, a family of hybrid periodic orbits depending smoothly on a …

In this paper, we present two approaches to obtain graceful transitions between periodic
orbits for nonlinear systems with parametrized periodic orbits. In the first approach we …

This letter sets up a simple model for the controlled jumps of a jumper on a trampoline. Such
a model is a paradigm for the impulsive control of more general multi-mode multi …

This paper investigates transitions between periodic behaviors for the rimless wheel on flat
terrain. Control is achieved by an impulsive kick by the spoke touching the ground. We …

Problems of locomotion typically encounter switching between gaits. In many applications, it
is desirable to make such transitions between modes or gaits inconspicuous and graceful …

Hybrid motion strategies such as combining jumping or running with flying and gliding are
used in nature by numerous animals and birds for effective movements in their natural …