High-speed dynamic gait generation for limit cycle walkers based on forward-tilting impact posture

DOI10.1007/S11044-012-9326-7zbMath1274.74199OpenAlexW2104980411MaRDI QIDQ375151

Fumihiko Asano

Publication date: 28 October 2013

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-012-9326-7

zbMATH Keywords

limit cycle walkingimpact posturepotential barrier

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Biomechanics (92C10) Robot dynamics and control of rigid bodies (70E60)

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Energetic consistency conditions for standard impacts. II: Poisson-type inequality impact laws ⋮ Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture

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