Dynamics of bipedal gait: Part I-objective functions and the contact event of a planar five-link biped

Journal of Applied Mechanics, Transactions ASME

Volumn 60, Issue 2, 1993, Pages 331-336

  Hurmuzlu, Y ^a  

^a SOUTHERN METHODIST UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

BIPED LOCOMOTION; DYNAMICS; EQUATIONS OF MOTION; KINEMATICS; STATE SPACE METHODS;

BIPEDAL GAIT; FOUR DIMENSIONAL PARAMETER SPACE; PLANAR FIVE LINK BIPED; POINT CONTACT; WALKING PATTERN;

GAIT ANALYSIS;

EID: 0027606695     PISSN: 00218936     EISSN: 15289036     Source Type: Journal    
DOI: 10.1115/1.2900797     Document Type: Article

References (10)

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8. Vukobratovic, M., Borovac, B., Surla, D., and Stokic, D., 1990, Scientific Fundamentals of Robotics 7. Biped Locomotion: Dynamics Stability, Control and Application, Springer-Verlag, New York.
9. Vukobratovic, M., and Stokic, D., 1980, “Significance of Force-Feedback in Controlling Artificial Locomotion-Manipulation Systems,” IEEE Trans, on Biomedical Engineering, Vol. BME-27, No. 12, pp. 705-713.
10. Zheng, Y. F., and Hemami, H., 1984, “Impact Effects of Biped Contact with the Environment,” IEEE Trans. Syst. Man Cyber., Vol. SMC-14, No. 3, pp. 437-443.