Bipedal locomotion stabilized by impact and switching: I. Two-and three-dimensional, three-element models

DOI10.1080/02681118708806029zbMath0647.70027OpenAlexW2050354496MaRDI QIDQ3792326

Gordon D. Moskowitz, Yildirim Hurmuzlu

Publication date: 1987

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

Full work available at URL: https://doi.org/10.1080/02681118708806029

zbMATH Keywords

perturbation methodswitchingeffect of impactphase-plane portraitsstability of bipedal locomotion systemsthree-dimensional, three-element models

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 (6)

A different switching surface stabilizing an existing unstable periodic gait: an analysis based on perturbation theory ⋮ Dynamic considerations of heel-strike impact in human gait ⋮ Bipedal locomotion stabilized by impact and switching: II. Structural stability analysis of a four-element bipedal locomotion model ⋮ Simultaneous design of optimal gait pattern and controller for a bipedal robot ⋮ Stability improvement of a dynamic walking system via reversible switching surfaces ⋮ Nonlinear dynamics and control of an inertially actuated jumper robot

Cites Work

• Unnamed Item
• Control method of biped locomotion giving asymptotic stability of trajectory
• Dynamic control of unstable locomotion robots
• On the stability of anthropomorphic systems
• The role of impact in the stability of bipedal locomotion

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