Bipedal locomotion stabilized by impact and switching: II. Structural stability analysis of a four-element bipedal locomotion model

DOI10.1080/02681118708806030zbMath0647.70028OpenAlexW2009999118MaRDI QIDQ3792327

Yildirim Hurmuzlu, Gordon D. Moskowitz

Publication date: 1987

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

Full work available at URL: https://doi.org/10.1080/02681118708806030

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 ⋮ Passively walking five-link robot ⋮ 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 ⋮ Nonlinear dynamics and control of an inertially actuated jumper robot

Cites Work

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