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

DOI10.1007/S11044-015-9479-2MaRDI QIDQ2629348zbMATH OpenOpenAlexFDO

Authors 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

zbMATH Keywords

gait generationhybrid zero dynamicslimit cycle walkingstabilitysymmetry

Mathematics Subject Classification ID

Dynamics of multibody systems (70E55)

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Cites work

• Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture
• Motions of a rimless spoked wheel: a simple three-dimensional system with impacts
• 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

(7)

• Generating 1-DOF limit cycle walking at target walking speed by feed-forward and feedback limit cycle control
• Stealth walking with reduced double-limb support phase and its extension to careful legged locomotion
• Gait generation and stabilization for nearly passive dynamic walking using auto-distributed impulses
• High-speed dynamic gait generation for limit cycle walkers based on forward-tilting impact posture
• Gait Generation for a Hopping Robot Via Iterative Learning Control Based on Variational Symmetry
• Gait generation and control for biped robots with underactuation degree one
• Indirectly controlled limit cycle walking of combined rimless wheel based on entrainment to active wobbling motion

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