LOW-COST CONTROL OF REPETITIVE GAIT IN PASSIVE BIPEDAL WALKERS

DOI10.1142/S0218127405013083MaRDI QIDQ5474273zbMATH OpenOpenAlexFDO

Authors Petri T. Piiroinen, Harry Dankowicz

Publication date 23 June 2006

Published in International Journal of Bifurcation and Chaos in Applied Sciences and Engineering (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1142/s0218127405013083

zbMATH Keywords

local stability

Mathematics Subject Classification ID

Stability problems in rigid body dynamics (70E50) Control of mechanical systems (70Q05)

Recommendations

• Revisiting the stability of 2D passive biped walking: local behavior
• Passive walking towards running
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• 3D passive walkers: Finding periodic gaits in the presence of discontinuities

Cites work

• 3D passive walkers: Finding periodic gaits in the presence of discontinuities
• Ballistic walking: an improved model
• Breaking symmetries and constraints: Transitions from 2D to 3D in passive walkers
• Calculation of Lyapunov exponents for dynamic systems with discontinuities.
• Efficiency, speed, and scaling of two-dimensional passive-dynamic walking
• Exploiting discontinuities for stabilization of recurrent motions
• On normal form calculations in impact oscillators
• On the stability of periodic motions
• Small slope implies low speed for McGeer's passive walking machines

Cited in

(21)

• Revisiting the stability of 2D passive biped walking: local behavior
• Biped locomotion. Dynamics, stability, control and application. Transl. from Serbo-Croatian
• An alternative stability analysis technique for the simplest walker
• Erratum to: ``Design of an explicit expression of the Poincaré map for the passive dynamic walking of the compass-gait biped model
• Local stability of PD controlled bipedal walking robots
• Simulation and stability analysis of impacting systems with complete chattering
• Self-similar control systems and applications to zygodactyl bird's foot
• From passive to active dynamic walking
• Identifying fixed points in periodic gaits during passive walking
• Walking control by chattering-free VS servo using passive walking trajectory
• Nonlinear predictive control applied to a biped walker with adjustable step length using a passive walking-based reference generator
• How to run a centipede: a topological perspective
• Investigating the Use of Iterative Learning Control and Repetitive Control to Implement Periodic Gaits
• Velocity-based stability margins for fast bipedal walking
• Controlled symmetries and passive walking
• On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers
• Passive walking towards running
• 3D passive walkers: Finding periodic gaits in the presence of discontinuities
• Controlling flat-foot limit cycle walkers with compliant joints based on local stability variation
• Modeling, stability and control of biped robots --- a general framework
• Indirectly controlled limit cycle walking of combined rimless wheel based on entrainment to active wobbling motion

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