A novel gait generation method independent of target settling-time adjustment for underactuated limit cycle walking

DOI10.1007/S11044-015-9479-2zbMATH Open1369.70008OpenAlexW2227633967MaRDI QIDQ2629348FDOQ2629348

Fumihiko Asano

Publication date: 6 July 2016

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

Full work available at URL: https://doi.org/10.1007/s11044-015-9479-2

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zbMATH Keywords

symmetrystabilitylimit cycle walkinggait generationhybrid zero dynamics

Mathematics Subject Classification ID

Dynamics of multibody systems (70E55)

Cites Work

• Motions of a rimless spoked wheel: a simple three-dimensional system with impacts
• Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture
• On the stability of anthropomorphic systems
• Passive velocity field control (PVFC). Part I. Geometry and robustness
• Passive velocity field control (PVFC). Part II. Application to contour following

Cited In (1)

• Gait Generation for a Hopping Robot Via Iterative Learning Control Based on Variational Symmetry

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