A different switching surface stabilizing an existing unstable periodic gait: an analysis based on perturbation theory

DOI10.1007/S11071-015-2130-1zbMath1348.93200OpenAlexW944731254MaRDI QIDQ329172

Ali Tehrani Safa, Mahyar Naraghi, Aria Alasty

Publication date: 21 October 2016

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-015-2130-1

zbMATH Keywords

stabilityperturbationimpulsive systemsswitching surfacelimit cycle walking

Mathematics Subject Classification ID

Controllability (93B05) Nonlinear systems in control theory (93C10) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Ordinary differential equations with impulses (34A37)

Related Items (5)

Walking dynamics of a semi-passive compass-like robot with impulse thrust ⋮ Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map ⋮ Identification, Stability and Stabilization of Limit Cycles in a Compass-Gait Biped Model via a Hybrid Poincaré Map ⋮ Stability improvement of a dynamic walking system via reversible switching surfaces ⋮ Analyzing Bifurcation, Stability and Chaos for a Passive Walking Biped Model with a Sole Foot

Cites Work

• Passively walking five-link robot
• An alternative stability analysis technique for the simplest walker
• Optimal foot shape for a passive dynamic biped
• The role of impact in the stability of bipedal locomotion
• Bipedal locomotion stabilized by impact and switching: I. Two-and three-dimensional, three-element models
• Bipedal locomotion stabilized by impact and switching: II. Structural stability analysis of a four-element bipedal locomotion model
• Dynamic Stability of a Simple Biped Walking System with Swing Leg Retraction

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