Revisiting the stability of 2D passive biped walking: local behavior

DOI10.1016/j.physd.2008.07.008zbMath1226.70004OpenAlexW2025622258MaRDI QIDQ1000678

James A. Norris, Kevin P. Granata, Shane D. Ross, Anthony P. Marsh

Publication date: 10 February 2009

Published in: Physica D (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.physd.2008.07.008

zbMATH Keywords

passive dynamic walkinghybrid dynamical systempiecewise-holonomic system

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Stability problems in rigid body dynamics (70E50)

Related Items

Existence and stability of limit cycles in the model of a planar passive biped walking down a slope, Trajectory-free approximation of phase space structures using the trajectory divergence rate, The computation of finite-time Lyapunov exponents on unstructured meshes and for non-Euclidean manifolds

Cites Work

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• The Dynamics of Legged Locomotion: Models, Analyses, and Challenges