On a normal-form analysis for a class of passive bipedal walkers

International Journal of Bifurcation and Chaos in Applied Sciences and Engineering

Volumn 11, Issue 9, 2001, Pages 2411-2425

  Piiroinen, Petri T ^a   Dankowicz, Harry J ^b   Nordmark, Arne B ^a  

^a ROYAL INSTITUTE OF TECHNOLOGY   (Sweden)

^b State University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 0035646904     PISSN: 02181274     EISSN: None     Source Type: Journal    
DOI: 10.1142/S0218127401003462     Document Type: Article

References (14)

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3. Formal'sky, A. M. [1996] Ballistic Locomotion of a Biped. Design and Control of Two Biped Machines, CISM Advanced School on Modelling and Simulation of Human and Walking Robots Locomotion, Udine.
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5. Garcia, M., Chatterjee, A., Ruina, A. & Coleman, M. [1998b] "Passive-dynamic models of human gait," Proc. Conf. Biomechanics and Neural Control of Human Movement, pp. 32-33.
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10. McGeer, T. [1990b] "Passive walking with knees," Proc. IEEE Conf. Robotics and Automation, Vol. 2, pp. 1640-1645.
11. McGeer, T. [1993] "Dynamics and control of bipedal locomotion," J. Theoret. Biol. 163, 277-314.
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13. Piiroinen, P. T., Dankowicz, H. J. & Nordmark, A. B. [2000] "Breaking symmetries and constraints: Transitions from 2d to 3d in passive walkers," submitted.
14. Pratt, J. E. & Pratt, G. A. [1999] "Exploiting natural dynamics in the control of a 3d bipedal walking simulation," Int. Conf. Climbing and Walking Robots (CLAWAR99).