关键词：步态运动；混合动力系统；模拟算法
摘 要：Beginning with a general class of hybrid control systems, we construct an intrinsic state-space metric and derive a provably-convergent numerical simulation algorithm. This resolves two longstanding problems in hybrid systems theory: non-trivial comparison of states from distinct discrete modes, and accurate simulation up to and including Zeno events.Finally, we show that the non-smooth flow resulting from arbitrary footfall timing possesses a non-classical (Bouligand) derivative.