Walking dynamics of a semi-passive compass-like robot with impulse thrust

DOI10.1007/s11071-022-08035-9zbMath1523.70011OpenAlexW4308040277MaRDI QIDQ6060051

Xianfei Hui, Guirong Jiang, Guanfeng Zhou, Jiarui Chen

Publication date: 2 November 2023

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-022-08035-9

zbMATH Keywords

flip bifurcationbifurcation controlperiodic gaitimpulse thrustsemi-passive compass-like biped model

Mathematics Subject Classification ID

Stability of solutions to ordinary differential equations (34D20) Robot dynamics and control of rigid bodies (70E60) Bifurcation of solutions to ordinary differential equations involving randomness (34F10)

Cites Work

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• Existence and stability of limit cycles in the model of a planar passive biped walking down a slope
• Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map

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