Center of percussion and gait design of biped robots

DOI10.1016/J.MECHMACHTHEORY.2010.06.008MaRDI QIDQ612696zbMATH OpenOpenAlexFDO

Authors Mauricio Alba, J. Prada, Jesus Meneses, Higinio Rubio

Publication date 29 December 2010

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2010.06.008

zbMATH Keywords

biped robotscenter of percussioninverted pendulumlinear controlpassive dynamics

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Recommendations

• Simultaneous design of optimal gait pattern and controller for a bipedal robot
• Parametric optimization of biped robot gait
• Design of a robust self-excited biped walking mechanism
• Bipedal robotic walking control derived from analysis of human locomotion
• Kinematic and dynamic approaches in gait optimization for humanoid robot locomotion

Cites work

• Dynamics and energetics of a class of bipedal walking systems
• scientific article; zbMATH DE number 53583 (Why is no real title available?)
• Legged robots

Cited in

(3)

• A damped bipedal inverted pendulum for human-structure interaction analysis
• Numerical estimation of balanced and falling states for constrained legged systems
• scientific article; zbMATH DE number 5524761 (Why is no real title available?)

Describes a project that uses

Uses Software

• Modelica

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