The role of impact in the stability of bipedal locomotion

DOI10.1080/02681118608806015zbMath0647.70026OpenAlexW2004162992MaRDI QIDQ3792325

Yildirim Hurmuzlu, Gordon D. Moskowitz

Publication date: 1986

Published in: Dynamics and Stability of Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/02681118608806015

zbMATH Keywords

Periodic impactsimple inverted double-pendulum locomotion systemstability of the nonlinear model

Mathematics Subject Classification ID

Stability for nonlinear problems in mechanics (70K20) Computational methods for problems pertaining to mechanics of particles and systems (70-08) Phase plane analysis, limit cycles for nonlinear problems in mechanics (70K05)

Related Items (14)

A different switching surface stabilizing an existing unstable periodic gait: an analysis based on perturbation theory ⋮ Modeling and finite-time walking control of a biped robot with feet ⋮ Dynamic considerations of heel-strike impact in human gait ⋮ Bipedal locomotion stabilized by impact and switching: I. Two-and three-dimensional, three-element models ⋮ Bipedal locomotion stabilized by impact and switching: II. Structural stability analysis of a four-element bipedal locomotion model ⋮ Passively walking five-link robot ⋮ Passive walking towards running ⋮ Simultaneous design of optimal gait pattern and controller for a bipedal robot ⋮ Modeling, stability and control of biped robots --- a general framework ⋮ Stability improvement of a dynamic walking system via reversible switching surfaces ⋮ Analyzing Bifurcation, Stability and Chaos for a Passive Walking Biped Model with a Sole Foot ⋮ Gait Generation and Stabilization for Nearly Passive Dynamic Walking Using Auto-distributed Impulses ⋮ Efficiency, speed, and scaling of two-dimensional passive-dynamic walking ⋮ Footstep adjustment for biped push recovery on slippery surfaces

Cites Work

• Initiation of walk and tiptoe of a planar nine-link biped
• The complete optimization of a human motion
• Dynamics of manipulation robots. Theory and application
• Further studies of human locomotion: postural stability and control
• A Feedback On-Off Model of Biped Dynamics

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