Perturbation-based approximate analytic solutions to an articulated SLIP model for legged robots

DOI10.1016/j.cnsns.2022.106943OpenAlexW4306180723MaRDI QIDQ2108701

Ningze Wei, Lei Yan, Huafeng Lu, Jin Li, Guangrong Chen

Publication date: 20 December 2022

Published in: Communications in Nonlinear Science and Numerical Simulation (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.cnsns.2022.106943

zbMATH Keywords

Mathieu equationperturbation methodaxial forcetangential forcelegged locomotionspring-loaded inverted pendulum

Mathematics Subject Classification ID

General perturbation schemes for nonlinear problems in mechanics (70K60) Biomechanics (92C10) Robot dynamics and control of rigid bodies (70E60)

Cites Work

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• Dynamic stability of bio-inspired biped robots for lateral jumping in rugged terrain
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• A Simply Stabilized Running Model

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