Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture

DOI10.1007/S11044-014-9445-4zbMath1361.70008OpenAlexW1997136388MaRDI QIDQ748703

Fumihiko Asano

Publication date: 29 October 2015

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-014-9445-4

zbMATH Keywords

stabilityanalytical solutionlinearizationquadratic approximationlimit cycle walkinghybrid zero dynamics (HZD)

Mathematics Subject Classification ID

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

Related Items (4)

A novel gait generation method independent of target settling-time adjustment for underactuated limit cycle walking ⋮ Stealth walking with reduced double-limb support phase and its extension to careful legged locomotion ⋮ Generating 1-DOF limit cycle walking at target walking speed by feed-forward and feedback limit cycle control ⋮ Finite-time stabilization of periodic orbits for under-actuated biped walking with hybrid zero dynamics

Cites Work

• High-speed dynamic gait generation for limit cycle walkers based on forward-tilting impact posture
• Stability analysis of underactuated compass gait based on linearization of motion
• Dynamics and stability of a rimless spoked wheel: a simple 2D system with impacts
• Motions of a rimless spoked wheel: a simple three-dimensional system with impacts
• Asymptotically stable walking for biped robots: analysis via systems with impulse effects
• Hybrid zero dynamics of planar biped walkers

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