Passively walking five-link robot

DOI10.1016/J.AUTOMATICA.2003.10.015MaRDI QIDQ1433063zbMATH OpenOpenAlexFDO

Authors Elena Borzova, Yildirim Hurmuzlu

Publication date 15 June 2004

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2003.10.015

zbMATH Keywords

automated systemsFloquet multipliersgait patternspassive bipedal robotpassive jointperiodic system stabilizationPoincaré maprobotsstability

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

Review text

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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Cites work

• Ballistic walking: an improved model
• Bipedal locomotion stabilized by impact and switching: II. Structural stability analysis of a four-element bipedal locomotion model
• scientific article; zbMATH DE number 67096 (Why is no real title available?)
• scientific article; zbMATH DE number 1500871 (Why is no real title available?)
• Passively walking five-link robot
• The role of impact in the stability of bipedal locomotion

Cited in

(15)

• Dynamics and energetics of a class of bipedal walking systems
• Passively walking five-link robot
• A five-link 2D brachiating ape model with life-like zero-energy-cost motions
• Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots
• Modelling, stability and biomechanical implications of three DOF passive bipedal gait
• Parameter influence on passive dynamic walking of a robot with flat feet
• A different switching surface stabilizing an existing unstable periodic gait: an analysis based on perturbation theory
• Optimization of energy efficiency of walking bipedal robots by use of elastic couplings in the form of mechanical springs
• Dynamics modeling and analysis of a biped walking robot actuated by a closed-chain mechanism
• Physics-based modeling and simulation of human walking: a review of optimization-based and other approaches
• scientific article; zbMATH DE number 1959556 (Why is no real title available?)
• Models, feedback control, and open problems of 3D bipedal robotic walking
• Analyzing bifurcation, stability and chaos for a passive walking biped model with a sole foot
• Bipedal walking: quasi-ballistic single-support phase, double-support under finite joint torques
• Energy efficient walking with central pattern generators: From passive dynamic walking to biologically inspired control

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