Control method of biped locomotion giving asymptotic stability of trajectory

DOI10.1016/0005-1098(84)90099-2zbMath0539.93043OpenAlexW2028456985MaRDI QIDQ794589

N. E. Zubov

Publication date: 1984

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0005-1098(84)90099-2

zbMATH Keywords

stable limit cyclebiped locomotionvan der Pol's equations

Mathematics Subject Classification ID

Related Items (7)

Coupled oscillators utilised as gait rhythm generators of a two-legged walking machine ⋮ Bipedal locomotion stabilized by impact and switching: I. Two-and three-dimensional, three-element models ⋮ Bipedal locomotion stabilized by impact and switching: II. Structural stability analysis of a four-element bipedal locomotion model ⋮ Passive walking towards running ⋮ Modeling, stability and control of biped robots --- a general framework ⋮ Kinematic and Dynamic Approaches in Gait Optimization for Humanoid Robot Locomotion ⋮ Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment

Cites Work

• Mathematical models of general anthropomorphic systems
• Modeling and control of constrained dynamic systems with application to biped locomotion in the frontal plane

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