A new method for finding the proper initial conditions in passive locomotion of bipedal robotic systems
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Publication:6183802
DOI10.1016/j.cnsns.2023.107693MaRDI QIDQ6183802
R. Fazel, Saeed Rafee Nekoo, A. M. Shafei
Publication date: 23 January 2024
Published in: Communications in Nonlinear Science and Numerical Simulation (Search for Journal in Brave)
path planningcontrol torquetransient phaseperiodic gaitinclined surfaceLQR controllerGibbs-Appell formulationfeedback linearization methodNewton impact lawswing phasewalking trajectory
Automated systems (robots, etc.) in control theory (93C85) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)
Cites Work
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- Effect of Upper Body Motion on Biped Robot Stability
- Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map
- The kinematics and kinetics of multi-closed-chain mechanisms in the impact and non-impact stages
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