Passively walking five-link robot

DOI10.1016/J.AUTOMATICA.2003.10.015zbMath1070.93033OpenAlexW1971481574MaRDI QIDQ1433063

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

stabilityFloquet multipliersautomated systemsPoincaré maprobotsgait patternspassive bipedal robotpassive jointperiodic system stabilization

Mathematics Subject Classification ID

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

Related Items (11)

Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots ⋮ Energy efficient walking with central pattern generators: From passive dynamic walking to biologically inspired control ⋮ 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 ⋮ Physics-based modeling and simulation of human walking: a review of optimization-based and other approaches ⋮ A five-link 2D brachiating ape model with life-like zero-energy-cost motions ⋮ Models, feedback control, and open problems of 3D bipedal robotic walking ⋮ Passively walking five-link robot ⋮ Unnamed Item ⋮ Analyzing Bifurcation, Stability and Chaos for a Passive Walking Biped Model with a Sole Foot ⋮ Dynamics and energetics of a class of bipedal walking systems

Cites Work

• Ballistic walking: an improved model
• Passively walking five-link robot
• The role of impact in the stability of bipedal locomotion
• Bipedal locomotion stabilized by impact and switching: II. Structural stability analysis of a four-element bipedal locomotion model
• Unnamed Item
• Unnamed Item

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