Initiation of walk and tiptoe of a planar nine-link biped

DOI10.1016/0025-5564(82)90002-5zbMath0495.73091OpenAlexW2076052202MaRDI QIDQ1169865

M. J. Hines, Yuan-Fang Zheng, Hooshang Hemami

Publication date: 1982

Published in: Mathematical Biosciences (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0025-5564(82)90002-5

zbMATH Keywords

nonlinear differential equationsconstraintslinear feedback controlwalklarge external forcesligamentsconnection constraintsconnections of linkscontact between model and groundforces of constraint specified as functions of state and inputsintegrity of jointnine-link planar biped modelsoft tissue structurestiptoe

Mathematics Subject Classification ID

Probabilistic models, generic numerical methods in probability and statistics (65C20) Kinematics of mechanisms and robots (70B15) Biomechanical solid mechanics (74L15)

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The role of impact in the stability of bipedal locomotion ⋮ Modeling, stability and control of biped robots --- a general framework

Cites Work

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• Indirect Control of the Forces of Constraint in Dynamic Systems
• A Feedback On-Off Model of Biped Dynamics
• A Control Theoretic Study on Dynamical Biped Locomotion
• Postural stability of the two-degree-of-freedom biped by general linear feedback

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