Stability analysis of a simple walking model driven by a rhythmic signal

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 2, Issue , 2004, Pages 1365-1370

  Aoi, Shinya ^a   Tsuchiya, Kazuo ^a  

^a KYOTO UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); EIGENVALUES AND EIGENFUNCTIONS; EQUATIONS OF MOTION; FUNCTIONS; MATHEMATICAL MODELS; MATRIX ALGEBRA; SYSTEM STABILITY;

BIPED ROBOTS; CENTRAL PATTERN GENERATOR (CPG); STABILITY ANALYSIS; WALKING MOTION;

MOBILE ROBOTS;

EID: 14044278840     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (10)

1. J. Adolfsson, H. Dankowicz, and A. Nordmark, 3D passive walkers: Finding periodic gaits in the presence of discontinuities, Nonlinear Dynamics 24, pp. 205-229, 2001.
2. M. Coleman, A. Chatterjee, and A. Ruina, Motions of a rimless spoked wheel: A simple three-dimensional system with impacts, Dynamics and Stability of Systems, Vol 12, No. 3, pp. 139-160, 1997.
3. R.J. Full and D.E. Koditschek, Templates and anchors: Neuromechanical hypotheses of legged locomotion on land, J. Exp. Biol. 202, pp. 3325-3332, 1999.
4. M. Garcia, A. Chatterjee, A. Ruina, and M. Coleman, The simplest walking model: Stability, complexity, and scaling, ASME J. of Biomechanical Eng., Vol. 120, No. 2, pp. 281-288, 1998.
5. R. Ghigliazza, R. Altendorfer, P. Holmes, and D.E. Koditschek, A simply stabilized running model, SIAM J. on Applied Dynamical Systems, Vol. 2, No. 2, pp. 187-218, 2003.
6. J.W. Grizzle, G. Abba, and F. Plestan, Asymptotically stable walking for biped robots: Analysis via systems with impulse effects, IEEE Trans. Automatic Control, Vol. 46, No. 1, pp. 51-64, 2001.
7. T. McGeer, Passive dynamic walking, Int. J. of Robotics Res., Vol. 9, No. 2, pp. 62-82, 1990.
8. S. Mochon and T. McMahon, Ballistic walking: An improved model, Math. biosc. 52, pp. 241-260, 1980.
9. A.L. Schwab and M. Wisse, Basin of attraction of the simplest walking model, Proc. of ASME Int. Conf. on Noise and Vibration, 2001.
10. G. Taga, A model of the neuro-musculo-skeletal system for human locomotion II. - Real-time adaptability under various constraints, Biol. Cybern. 73, pp. 113-121, 1995.