Lateral stability of the spring-mass hopper suggests a two-step control strategy for running

DOI10.1063/1.3127577zbMath1309.70030OpenAlexW2066472489WikidataQ48545687 ScholiaQ48545687MaRDI QIDQ5246379

John Guckenheimer, Noah J. Cowan, Sean G. Carver

Publication date: 21 April 2015

Published in: Chaos: An Interdisciplinary Journal of Nonlinear Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1063/1.3127577

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Control of mechanical systems (70Q05) Biomechanics (92C10)

Related Items (3)

Event--Selected Vector Field Discontinuities Yield Piecewise--Differentiable Flows ⋮ Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: application to bipedal locomotion ⋮ Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper

Cites Work

• Unnamed Item
• A simple model for clock-actuated legged locomotion
• Approximating the stance of a 2-DOF monoped runner
• The Dynamics of Legged Locomotion: Models, Analyses, and Challenges

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