Motions of a rimless spoked wheel: a simple three-dimensional system with impacts

DOI10.1080/02681119708806242zbMath0932.70007OpenAlexW1979422127MaRDI QIDQ4366136

Andy L. Ruina, M. J. Coleman, Anindya Chatterjee

Publication date: 23 March 2000

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

Full work available at URL: https://doi.org/10.1080/02681119708806242

zbMATH Keywords

collisionsstability of periodic motionscomputer-algebra based techniquemodel of walking machinePoincaré section methodsloping surface

Mathematics Subject Classification ID

Stability problems in rigid body dynamics (70E50) Motion of a rigid body in contact with a solid surface (70E18)

Related Items (14)

A novel gait generation method independent of target settling-time adjustment for underactuated limit cycle walking ⋮ Self-stability of a simple walking model driven by a rhythmic signal ⋮ Indirectly controlled limit cycle walking of combined rimless wheel based on entrainment to active wobbling motion ⋮ Painlevé's paradox and dynamic jamming in simple models of passive dynamic walking ⋮ Generating 1-DOF limit cycle walking at target walking speed by feed-forward and feedback limit cycle control ⋮ Passive walking towards running ⋮ Existence and stability of limit cycles in the model of a planar passive biped walking down a slope ⋮ Dynamics and stability of a rimless spoked wheel: a simple 2D system with impacts ⋮ An upper-body can improve the stability and efficiency of passive dynamic walking ⋮ Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture ⋮ Spring-mass running: simple approximate solution and application to gait stability ⋮ Nonholonomic stability aspects of piecewise holonomic systems ⋮ Dynamic Bipedal Walking under Stick-Slip Transitions ⋮ Stability analysis of underactuated compass gait based on linearization of motion

Cites Work

• Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment
• Nonlinear oscillations, dynamical systems, and bifurcations of vector fields
• The transition to chaos in a simple mechanical system
• Nonsmooth impact mechanics. Models, dynamics and control
• Dynamic Behavior of a Bilinear Hysteretic Elasto-Plastic Oscillator, Part I: Free Oscillations
• A periodically forced piecewise linear oscillator

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