Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture
From MaRDI portal
Publication:748703
DOI10.1007/S11044-014-9445-4zbMath1361.70008OpenAlexW1997136388MaRDI QIDQ748703
Publication date: 29 October 2015
Published in: Multibody System Dynamics (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1007/s11044-014-9445-4
stabilityanalytical solutionlinearizationquadratic approximationlimit cycle walkinghybrid zero dynamics (HZD)
Robot dynamics and control of rigid bodies (70E60) Stability problems in rigid body dynamics (70E50)
Related Items (4)
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 ⋮ Generating 1-DOF limit cycle walking at target walking speed by feed-forward and feedback limit cycle control ⋮ Finite-time stabilization of periodic orbits for under-actuated biped walking with hybrid zero dynamics
Cites Work
- High-speed dynamic gait generation for limit cycle walkers based on forward-tilting impact posture
- Stability analysis of underactuated compass gait based on linearization of motion
- Dynamics and stability of a rimless spoked wheel: a simple 2D system with impacts
- Motions of a rimless spoked wheel: a simple three-dimensional system with impacts
- Asymptotically stable walking for biped robots: analysis via systems with impulse effects
- Hybrid zero dynamics of planar biped walkers
This page was built for publication: Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture
