A three-step reachable set overapproximation verifies forward-invariant sets for hybrid limit cycles in legged robots and optimizes tracking controllers to enlarge them.
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Differentiable Invariant Sets for Hybrid Limit Cycles with Application to Legged Robots
A three-step reachable set overapproximation verifies forward-invariant sets for hybrid limit cycles in legged robots and optimizes tracking controllers to enlarge them.