Dynamic Stability of a Simple Biped Walking System with Swing Leg Retraction

DOI10.1007/978-3-540-36119-0_21zbMath1310.70020OpenAlexW81595900MaRDI QIDQ5248647

Christopher G. Atkeson, D. K. Kloimwieder, M. A. Wisse

Publication date: 8 May 2015

Published in: Lecture Notes in Control and Information Sciences (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-540-36119-0_21

Mathematics Subject Classification ID

Biomechanics (92C10) Robot dynamics and control of rigid bodies (70E60) Stability problems in rigid body dynamics (70E50)

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A different switching surface stabilizing an existing unstable periodic gait: an analysis based on perturbation theory ⋮ Robust pseudo virtual passive dynamic walking with control of swing-leg retraction

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