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Limit Cycles in a Passive Compass Gait Biped and Passivity-Mimicking Control Laws

Limit Cycles in a Passive Compass Gait Biped and Passivity-Mimicking Control Laws It is well-known that a suitably designed unpowered mechanical bipedrobot can “walk” down an inclined plane with a steady periodicgait. The energy required to maintain the motion comes from theconversion of the biped's gravitational potential energy as itdescends. Investigation of such passive natural motions maypotentially lead us to strategies useful for controlling activewalking machines as well as to understand human locomotion. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

Limit Cycles in a Passive Compass Gait Biped and Passivity-Mimicking Control Laws

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References (22)

Publisher
Springer Journals
Copyright
Copyright © 1997 by Kluwer Academic Publishers
Subject
Engineering; Robotics and Automation; Artificial Intelligence (incl. Robotics); Computer Imaging, Vision, Pattern Recognition and Graphics; Control, Robotics, Mechatronics
ISSN
0929-5593
eISSN
1573-7527
DOI
10.1023/A:1008844026298
Publisher site
See Article on Publisher Site

Abstract

It is well-known that a suitably designed unpowered mechanical bipedrobot can “walk” down an inclined plane with a steady periodicgait. The energy required to maintain the motion comes from theconversion of the biped's gravitational potential energy as itdescends. Investigation of such passive natural motions maypotentially lead us to strategies useful for controlling activewalking machines as well as to understand human locomotion.

Journal

Autonomous RobotsSpringer Journals

Published: Sep 21, 2004

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