Passively walking five-link robot
type: Item
instance of: scholarly article
title: Passively walking five-link robot
zbMATH Open document ID: 1070.93033
author: Elena Borzova
author: Yildirim Hurmuzlu
published in: Automatica
publication date: 2004-06-15T00:00:00Z
review text: The dynamics of a five-link, passive, bipedal robot (with knees and upper body) is investigated including the effect of incorporating passive elements such as springs and dampers in the passive joint of the biped. It is demonstrated that the addition of springs leads to a new set of gait patterns that do not exist in a motion of a completely passive biped. The stability of the proposed model is studied using the Poincaré map and Floquet multipliers.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 70B15
Mathematics Subject Classification ID: 93D20
zbMATH DE Number: 2075425
zbMATH Keywords: automated systems
zbMATH Keywords: robots
zbMATH Keywords: periodic system stabilization
zbMATH Keywords: passive bipedal robot
zbMATH Keywords: passive joint
zbMATH Keywords: gait patterns
zbMATH Keywords: stability
zbMATH Keywords: Poincaré map
zbMATH Keywords: Floquet multipliers
reviewed by: Clementina Mladenova
MaRDI profile type: Publication
full work available at URL: j.automatica.2003.10.015
OpenAlex ID: W1971481574
cites work: Q4499722
cites work: The role of impact in the stability of bipedal locomotion
cites work: Bipedal locomotion stabilized by impact and switching: II. Structural stability analysis of a four-element bipedal locomotion model
cites work: Ballistic walking: an improved model
cites work: Q4011784
DOI: 10.1016/J.AUTOMATICA.2003.10.015
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description: scientific article; zbMATH DE number 2075425