Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper

DOI10.1063/1.3486803zbMath1311.70018OpenAlexW2055500823WikidataQ42677131 ScholiaQ42677131MaRDI QIDQ5251228

Uluç Saranli, Mustafa Mert Ankaralı

Publication date: 19 May 2015

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

Full work available at URL: http://hdl.handle.net/11693/22268

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Biomechanics (92C10) Robot dynamics and control of rigid bodies (70E60)

Related Items (4)

The leg stiffnesses animals use may improve the stability of locomotion ⋮ Effective leg stiffness of animal running and the co-optimization of energetic cost and stability ⋮ Animals prefer leg stiffness values that may reduce the energetic cost of locomotion ⋮ A simple extension of inverted pendulum template to explain features of slow walking

Cites Work

• A simple model for clock-actuated legged locomotion
• How well can spring-mass-like telescoping leg models fit multi-pedal sagittal-plane locomotion data?
• Approximating the stance of a 2-DOF monoped runner
• Legged robots
• A Simply Stabilized Running Model
• The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper
• Lateral stability of the spring-mass hopper suggests a two-step control strategy for running
• Hybrid zero dynamics of planar biped walkers
• A Simply Stabilized Running Model
• The Dynamics of Legged Locomotion: Models, Analyses, and Challenges

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