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A Hybrid Dynamical Extension of Averaging (1607.03795v1)
Published 13 Jul 2016 in cs.RO and math.DS
Abstract: We extend a smooth dynamical systems averaging technique to a class of hybrid systems with a limit cycle that is particularly relevant to the synthesis of stable legged gaits. After introducing a definition of hybrid averageability sufficient to recover the classical result, we provide a simple illustration of its applicability to legged locomotion and conclude with some rather more speculative remarks concerning the prospects for further generalization of these ideas.