Perturbation-based approximate analytic solutions to an articulated SLIP model for legged robots

DOI10.1016/J.CNSNS.2022.106943MaRDI QIDQ2108701zbMATH OpenOpenAlexFDO

Authors Guangrong Chen, Ningze Wei, Lei Yan, Huafeng Lu, Jin Li

Publication date 20 December 2022

Published in Communications in Nonlinear Science and Numerical Simulation (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.cnsns.2022.106943

zbMATH Keywords

perturbation methodlegged locomotionaxial forceMathieu equationtangential forcespring-loaded inverted pendulum

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Biomechanics (92C10) General perturbation schemes for nonlinear problems in mechanics (70K60)

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Cites work

• A Simply Stabilized Running Model
• A novel analytic approximation method with a convergence acceleration parameter for solving nonlinear problems
• Analytical approximations to primary resonance response of harmonically forced oscillators with strongly general nonlinearity
• Approximating the stance of a 2-DOF monoped runner
• Asymptotic solution of a boundary value problem for a spring-mass model of legged locomotion
• Dynamic stability of bio-inspired biped robots for lateral jumping in rugged terrain
• Eigenvalue problems and their perturbations for the weighted \((p,q)\)-Laplacian
• Finite-time stabilization of periodic orbits for under-actuated biped walking with hybrid zero dynamics
• Legged robots
• Periodic analytic approximate solutions for the Mathieu equation
• Solitons in birefringent fibers for CGL equation with Hamiltonian perturbations and Kerr law nonlinearity using modified extended direct algebraic method
• Solution and asymptotic analysis of a boundary value problem in the spring-mass model of running
• Spring-mass running: simple approximate solution and application to gait stability

Cited in

(4)

• Numerical method for the time-optimal response problem with phase constraints for the simplest model of a one-legged jumping robot
• A simple model for clock-actuated legged locomotion
• Rebound, slip, and compliance in the modeling and analysis of discrete impacts in legged locomotion
• Approximating the stance of a 2-DOF monoped runner

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