Stability analysis of underactuated compass gait based on linearization of motion

DOI10.1007/S11044-014-9416-9zbMATH Open1361.70007OpenAlexW2066732042MaRDI QIDQ2340347FDOQ2340347

Authors: 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

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zbMATH Keywords

stabilityconvergence ratelimit cycle walkingcompass gait

Mathematics Subject Classification ID

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

Cites Work

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

Cited In (9)

• Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots
• Identification, stability and stabilization of limit cycles in a compass-gait biped model via a hybrid Poincaré map
• LCP method for a planar passive dynamic Walker based on an event-driven scheme
• A review of simulation methods for human movement dynamics with emphasis on gait
• Walking dynamics of a semi-passive compass-like robot with impulse thrust
• Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture
• Effect of upper body motion on biped robot stability
• 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

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