Control method of biped locomotion giving asymptotic stability of trajectory

DOI10.1016/0005-1098(84)90099-2MaRDI QIDQ794589zbMATHOpenAlexFDO

Authors N. E. Zubov

Publication date 1984

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0005-1098(84)90099-2

zbMATH Keywords

stable limit cyclebiped locomotionvan der Pol's equations

Mathematics Subject Classification ID

Topological structure of integral curves, singular points, limit cycles of ordinary differential equations (34C05) Asymptotic properties of solutions to ordinary differential equations (34D05) Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Asymptotic stability in control theory (93D20) Stability for nonlinear problems in mechanics (70K20) Phase plane analysis, limit cycles for nonlinear problems in mechanics (70K05)

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Cites work

• Mathematical models of general anthropomorphic systems
• Modeling and control of constrained dynamic systems with application to biped locomotion in the frontal plane

Cited in

(20)

• Control design for a biped: reference trajectory based on driven angles as functions of the undriven angle
• scientific article; zbMATH DE number 2089492 (Why is no real title available?)
• Kinematic and dynamic approaches in gait optimization for humanoid robot locomotion
• Passive walking towards running
• A Theoretically Motivated Reduced Order Model for the Control of Dynamic Biped Locomotion
• Neural network robotic control for a reduced order position/force model
• Asymptotically stable walking for biped robots: analysis via systems with impulse effects
• Hybrid control of biped robots to increase stability in locomotion
• Generating 1-DOF limit cycle walking at target walking speed by feed-forward and feedback limit cycle control
• Control of a Dynamical Biped Locomotion System for Steady Walking
• Multi-locomotion control of biped locomotion and brachiation robot
• Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment
• Regularity in an environment produces an internal torque pattern for biped balance control
• 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
• Coupled oscillators utilised as gait rhythm generators of a two-legged walking machine
• Control of statically unstable legged vehicles
• Modeling, stability and control of biped robots --- a general framework
• Stability analysis of bipedal walking with control or monitoring of the center of pressure
• A control study of a kneeless biped locomotion system

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