Generating 1-DOF limit cycle walking at target walking speed by feed-forward and feedback limit cycle control

DOI10.1007/S11044-017-9568-5MaRDI QIDQ1698686zbMATH OpenOpenAlexFDO

Authors Xuan Xiao, Fumihiko Asano

Publication date 16 February 2018

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

Full work available at URL https://doi.org/10.1007/s11044-017-9568-5

zbMATH Keywords

limit cycle walkinglegged robotfeedback and feed-forward controltarget walking speed generation

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Feedback control (93B52)

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Cites work

• Dynamics and stability of a rimless spoked wheel: a simple 2D system with impacts
• Feedforward dynamics for the control of articulated multi-limb robots
• Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture
• Motions of a rimless spoked wheel: a simple three-dimensional system with impacts
• Stability analysis of underactuated compass gait based on linearization of motion

Cited in

(2)

• A novel gait generation method independent of target settling-time adjustment for underactuated limit cycle walking
• Indirectly controlled limit cycle walking of combined rimless wheel based on entrainment to active wobbling motion

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