Stability improvement of a dynamic walking system via reversible switching surfaces

DOI10.1007/S11044-017-9593-4MaRDI QIDQ1789441zbMATH OpenOpenAlexFDO

Authors Ali Tehrani Safa, Somaye Mohammadi, M. Naraghi, Aria Alasty

Publication date 10 October 2018

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

Full work available at URL https://doi.org/10.1007/s11044-017-9593-4

zbMATH Keywords

stabilityswitching surfacedynamic walkinghybrid limit cyclebiped

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Stability problems in rigid body dynamics (70E50)

Recommendations

• Dynamic Stability of a Simple Biped Walking System with Swing Leg Retraction
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Cites work

• A different switching surface stabilizing an existing unstable periodic gait: an analysis based on perturbation theory
• Asymptotically stable walking for biped robots: analysis via systems with impulse effects
• Bipedal locomotion stabilized by impact and switching: I. Two-and three-dimensional, three-element models
• Bipedal locomotion stabilized by impact and switching: II. Structural stability analysis of a four-element bipedal locomotion model
• Control of a bicycle using virtual holonomic constraints
• Hybrid zero dynamics of planar biped walkers
• Legged robots
• Periodic motions of the Pendubot via virtual holonomic constraints: theory and experiments
• Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics
• The role of impact in the stability of bipedal locomotion
• Virtual Holonomic Constraints for Euler–Lagrange Systems

Cited in

(4)

• Footstep adjustment for biped push recovery on slippery surfaces
• Dynamic Stability of a Simple Biped Walking System with Swing Leg Retraction
• Stable Dynamic Walking over Rough Terrain
• On controlling the adaptation of orthogonal walking movers to the supporting surface

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• Adams

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