High-speed dynamic gait generation for limit cycle walkers based on forward-tilting impact posture

DOI10.1007/S11044-012-9326-7MaRDI QIDQ375151zbMATH OpenOpenAlexFDO

Authors Fumihiko Asano

Publication date 28 October 2013

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

Full work available at URL https://doi.org/10.1007/s11044-012-9326-7

zbMATH Keywords

limit cycle walkingimpact posturepotential barrier

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Biomechanics (92C10)

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Cited in

(9)

• An approach to the design of walking humanoid robots with different leg mechanisms or flexible feet and using dynamic gaits
• Gait Generation for a Hopping Robot Via Iterative Learning Control Based on Variational Symmetry
• A novel gait generation method independent of target settling-time adjustment for underactuated limit cycle walking
• Stealth walking with reduced double-limb support phase and its extension to careful legged locomotion
• Design of a walking cyclic gait with single support phases and impacts for the locomotor system of a thirteen-link 3D biped using the parametric optimization
• Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture
• Gait generation and stabilization for nearly passive dynamic walking using auto-distributed impulses
• Energetic consistency conditions for standard impacts. II: Poisson-type inequality impact laws
• Generating 1-DOF limit cycle walking at target walking speed by feed-forward and feedback limit cycle control

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