Dynamic stability of bio-inspired biped robots for lateral jumping in rugged terrain

DOI10.1016/J.APM.2021.03.050MaRDI QIDQ2247261zbMATHOpenAlexFDO

Authors Lun Wang, Jinnong Liao, Jing Zhao, Zhenyong Zhou, Xingkun Liu, Zi-Qiang Zhang

Publication date 17 November 2021

Published in Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.apm.2021.03.050

zbMATH Keywords

dynamic stabilitybio-inspired robotlateral jumpingleg attituderugged terrain

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Biomechanics (92C10) Stability problems in rigid body dynamics (70E50)

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Cites work

• Dynamic effects in statically stable walking machines
• Mathematical simulation of combined trajectory paths of a seven link biped robot
• Modelling and analysis of dynamic frictional interactions of vibro-driven capsule systems with viscoelastic property
• Modelling the effect of `heel to toe' roll-over contact on the walking dynamics of passive biped robots
• Study on feet forces' distributions, energy consumption and dynamic stability measure of hexapod robot during crab walking

Cited in

(10)

• Trajectory planning of an intermittent jumping quadruped robot with variable redundant and underactuated joints
• Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper
• Perturbation-based approximate analytic solutions to an articulated SLIP model for legged robots
• Port-Hamiltonian modeling and jumping trajectory tracking control for a bio-inspired quadruped robot
• The use of compliant joints and elastic energy storage in bio-inspired legged robots
• Walking dynamics of a semi-passive compass-like robot with impulse thrust
• Dynamic model and performance analysis of landing buffer for bionic locust mechanism
• Design, optimization, and experiment on a bioinspired jumping robot with a six-bar leg mechanism based on jumping stability
• Landing impact analysis of a bioinspired intermittent hopping robot with consideration of friction
• Balance and control of human inspired jumping robot

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