Passively walking five-link robot (Q1433063)
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scientific article
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Passively walking five-link robot |
scientific article |
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Passively walking five-link robot (English)
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15 June 2004
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The dynamics of a five-link, passive, bipedal robot (with knees and upper body) is investigated including the effect of incorporating passive elements such as springs and dampers in the passive joint of the biped. It is demonstrated that the addition of springs leads to a new set of gait patterns that do not exist in a motion of a completely passive biped. The stability of the proposed model is studied using the Poincaré map and Floquet multipliers.
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automated systems
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robots
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periodic system stabilization
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passive bipedal robot
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passive joint
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gait patterns
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stability
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Poincaré map
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Floquet multipliers
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