Asymptotically stable biped gait generation based on stability principle of rimless wheel
نویسندگان
چکیده
منابع مشابه
Analysis of 3D Passive Walking Including Turning Motions for the Finite-width Rimless Wheel
The focus of studies in the field of passive walking has often been on straight walking, while less attention has been paid to the field of turning motions. In this paper, the passive motions of a finite width rimless wheel as the simplest 3D model of passive biped walkers was investigated with a focus on turning motions. For this purpose, the hybrid model of the system consisting of continuous...
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In this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. Stability conditions are derived by studying unactuated dynamics and using the Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...
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This paper investigates the efficiency of a 2-period gait from the kinetic energy view-point. First, we formulate a steady 2-period gait for a compass-like bipedal robot by using a simple recurrence formula for the kinetic energy of an asymmetric rimless wheel. Second, we theoretically show that, in the case that the mean value of the hip angle is constant, the generated 2-period steady gait is...
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عنوان ژورنال:
- Robotica
دوره 27 شماره
صفحات -
تاریخ انتشار 2009