Stealth walking with reduced double-limb support phase and its extension to careful legged locomotion

DOI10.1007/s11044-018-09645-1zbMath1412.70005OpenAlexW2894700832MaRDI QIDQ2631520

Fumihiko Asano

Publication date: 15 May 2019

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-018-09645-1

zbMATH Keywords

angular momentumlinearized modelupper bodyfrictionless road surfacestealth walking

Mathematics Subject Classification ID

Stability problems in rigid body dynamics (70E50) Motion of a rigid body in contact with a solid surface (70E18)

Cites Work

• Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture
• An upper-body can improve the stability and efficiency of passive dynamic walking
• On the stability of anthropomorphic systems

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