Journal ArticleDOI
Dynamics of Bipedal Gait: Part I—Objective Functions and the Contact Event of a Planar Five-Link Biped
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An approach that can be followed to formulate objective functions which can be used to prescribe the gait of a planar, five element, bipedal automaton during single support phase is presented.Abstract:
This article presents an approach that can be followed to formulate objective functions which can be used to prescribe the gait of a planar, five element, bipedal automaton during single support phase. The motion of the biped is completely characterized in terms of progression speed, step length, maximum step height, and stance knee bias. Kinematic relations have been derived and the inverse problem has been solved to perform a parametric study that correlates the regions of the four dimensional parameter space with the respective gait patternsread more
Citations
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Journal ArticleDOI
Asymptotically stable walking for biped robots: analysis via systems with impulse effects
TL;DR: The principal contribution of the present work is to show that the control strategy can be designed in a way that greatly simplifies the application of the method of Poincare to a class of biped models, and to reduce the stability assessment problem to the calculation of a continuous map from a subinterval of R to itself.
Book
Feedback Control of Dynamic Bipedal Robot Locomotion
TL;DR: In this article, the authors present a comprehensive and mathematically sound treatment of feedback design for achieving stable, agile, and efficient locomotion in bipedal robots, including modeling walking and running gaits in planar robots.
Journal ArticleDOI
Modeling, stability and control of biped robots-a general framework
TL;DR: An overview of the existing work and the needed future developments is presented and the use of discrete maps in studying the stability of the closed orbits that represent the dynamics of a biped, which can be characterized as a hybrid system.
Journal ArticleDOI
Impedance control for biped robot locomotion
TL;DR: This paper proposes a control method for biped robot locomotion based on impedance control and impedance modulation, which works well and is superior to position-oriented control methods such as the computed-torque control method in impact regulation during foot landings and adaptation to some ground irregularity.
Journal ArticleDOI
Motions of a Rimless Spoked Wheel: a Simple 3D System with Impacts
TL;DR: In this article, a rigid rimless spoked wheel, or regular polygon, "rolling" downhill is discussed, in which the wheel pivots on one "support" spoke until another spoke collides with the ground, followed by transfer of support to that spoke, and so on.
References
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Book
Biped Locomotion: Dynamics, Stability, Control and Application
TL;DR: Dynamics of Biped Locomotion, Synthesis of Nominal Dynamics, Control and Stability, and Realization of Anthropomorphic Mechanisms.
Journal ArticleDOI
Modeling and control of constrained dynamic systems with application to biped locomotion in the frontal plane
Hooshang Hemami,B. Wyman +1 more
TL;DR: In this article, a general model for control of state-space constrained dynamic systems is presented, based on the derivation of the constraint forces as explicit functions of the state and the input.
Journal ArticleDOI
Control of a Dynamical Biped Locomotion System for Steady Walking
J. Furusho,M. Masubuchi +1 more
Journal ArticleDOI
Paper: Control method of biped locomotion giving asymptotic stability of trajectory
TL;DR: This paper deals with a control method of a dynamic biped locomotion by utilizing a dynamical system having a stable limit cycle and makes use of the bifurcation of a set of coupled van der Pol's equations.
Journal ArticleDOI
The role of impact in the stability of bipedal locomotion
TL;DR: A mathematical model of a simple inverted double-pendulum locomotion system was developed and the stability of the nonlinear model was analysed.