An upper-body can improve the stability and efficiency of passive dynamic walking

DOI10.1016/J.JTBI.2011.06.032MaRDI QIDQ1786083zbMATH OpenOpenAlexWikidataFDO

Authors T. Chyou, G. F. Liddell, Mike G. Paulin

Publication date 24 September 2018

Published in Journal of Theoretical Biology (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.jtbi.2011.06.032

zbMATH Keywords

nonlinear dynamic systemanimal locomotionpassive dynamics

Mathematics Subject Classification ID

Biomechanics (92C10)

Recommendations

• From passive to active dynamic walking
• Effect of upper body motion on biped robot stability
• Modeling and stability analysis of controlled passive walking
• Efficiency, speed, and scaling of two-dimensional passive-dynamic walking

Cites work

• Asymptotically stable walking for biped robots: analysis via systems with impulse effects
• Efficiency, speed, and scaling of two-dimensional passive-dynamic walking
• Motions of a rimless spoked wheel: a simple three-dimensional system with impacts
• Small slope implies low speed for McGeer's passive walking machines

Cited in

(7)

• Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots
• Design of an explicit expression of the Poincaré map for the passive dynamic walking of the compass-gait biped model
• Exact and perturbation methods in the dynamics of legged locomotion
• Stealth walking with reduced double-limb support phase and its extension to careful legged locomotion
• Effect of upper body motion on biped robot stability
• Optimization of energy efficiency of walking bipedal robots by use of elastic couplings in the form of mechanical springs
• OGY-based control of chaos in semi-passive dynamic walking of a torso-driven biped robot

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