Passive Walker that can walk down steps: simulations and experiments

DOI10.1007/S10409-008-0175-9zbMath1257.70014OpenAlexW2076886560MaRDI QIDQ1939169

Ning Liu, Tian-Shu Wang, Jun-Feng Li

Publication date: 26 February 2013

Published in: Acta Mechanica Sinica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10409-008-0175-9

zbMATH Keywords

simulationnonlinear dynamicsexperimentsPoincaré mapperiod-doublingpassive walking

Mathematics Subject Classification ID

Experimental work for problems pertaining to mechanics of particles and systems (70-05) Robot dynamics and control of rigid bodies (70E60)

Related Items (5)

Design of an explicit expression of the Poincaré map for the passive dynamic walking of the compass-gait biped model ⋮ LCP method for a planar passive dynamic Walker based on an event-driven scheme ⋮ Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: analysis of local bifurcations via the hybrid Poincaré map ⋮ Identification, Stability and Stabilization of Limit Cycles in a Compass-Gait Biped Model via a Hybrid Poincaré Map ⋮ Stability analysis of bipedal robots using the concept of Lyapunov exponents

Cites Work

• Design of a robust self-excited biped walking mechanism
• Passive dynamic of the simplest walking model: replacing ramps with stairs
• 3D passive walkers: Finding periodic gaits in the presence of discontinuities

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