Stability analysis of underactuated compass gait based on linearization of motion

DOI10.1007/S11044-014-9416-9zbMath1361.70007OpenAlexW2066732042MaRDI QIDQ2340347

Fumihiko Asano

Publication date: 16 April 2015

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

Full work available at URL: https://doi.org/10.1007/s11044-014-9416-9

zbMATH Keywords

stabilityconvergence ratelimit cycle walkingcompass gait

Mathematics Subject Classification ID

Stability for nonlinear problems in mechanics (70K20) Robot dynamics and control of rigid bodies (70E60)

Related Items (8)

Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots ⋮ LCP method for a planar passive dynamic Walker based on an event-driven scheme ⋮ Walking dynamics of a semi-passive compass-like robot with impulse thrust ⋮ Generating 1-DOF limit cycle walking at target walking speed by feed-forward and feedback limit cycle control ⋮ Walking dynamics for an ascending stair biped robot with telescopic legs and impulse thrust ⋮ Identification, Stability and Stabilization of Limit Cycles in a Compass-Gait Biped Model via a Hybrid Poincaré Map ⋮ Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture ⋮ A review of simulation methods for human movement dynamics with emphasis on gait

Cites Work

• On the stability of anthropomorphic systems
• Motions of a rimless spoked wheel: a simple three-dimensional system with impacts
• Asymptotically stable walking for biped robots: analysis via systems with impulse effects

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