Stability improvement of a dynamic walking system via reversible switching surfaces

DOI10.1007/S11044-017-9593-4zbMATH Open1423.70024OpenAlexW2755635729MaRDI QIDQ1789441FDOQ1789441

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

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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)

Cites Work

• Legged robots
• Asymptotically stable walking for biped robots: analysis via systems with impulse effects
• A different switching surface stabilizing an existing unstable periodic gait: an analysis based on perturbation theory
• The role of impact in the stability of bipedal locomotion
• 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
• Hybrid zero dynamics of planar biped walkers
• Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics
• Periodic motions of the Pendubot via virtual holonomic constraints: theory and experiments
• Control of a bicycle using virtual holonomic constraints
• 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

Uses Software

• Adams

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