2023
DOI: 10.1088/1748-3190/acf634
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Stochastic stability analysis of legged locomotion using unscented transformation

Güner Dilsad Er,
Mustafa Mert Ankarali

Abstract: In this manuscript, we present a novel method for estimating the stochastic stability characteristics of metastable legged systems using the unscented transformation. Prior methods for stability analysis in such systems often required high-dimensional state space discretization and a broad set of initial conditions, resulting in significant computational complexity. Our approach aims to alleviate this issue by reducing the dimensionality of the system and utilizing the unscented transformation to estimate the o… Show more

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