Skateboards, bicycles, and three-dimensional biped walking machines: Velocity-dependent stability by means of lean-to-yaw coupling

International Journal of Robotics Research

Volumn 24, Issue 6, 2005, Pages 417-429

  Wisse, M ^a   Schwab, A L ^a  

^a DELFT UNIVERSITY OF TECHNOLOGY   (Netherlands)

Author keywords

Ankle joint; Passive dynamic walking; Simplest walking model; Three dimensional stability

Indexed keywords

ACTUATORS; DEGREES OF FREEDOM (MECHANICS); ROBOTS; ROBUSTNESS (CONTROL SYSTEMS); STEERING; TORQUE;

ANKLE JOINT; PASSIVE DYNAMIC WALKING; SIMPLEST WALKING MODEL; THREE-DIMENSIONAL STABILITY;

BIPED LOCOMOTION;

EID: 19344372701     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/0278364905053803     Document Type: Article

References (21)

1. Bauby, C. E. and Kuo, A. D. 2000. Active control of lateral balance in human walking. Journal of Biomechanics 33:1433-1440.
2. Coleman, M. J. and Ruina, A. 1998. An uncontrolled toy that can walk but cannot stand still. Physical Review Letters 80(16):3658-3661.
3. Coleman, M. J., Chatterjee, A., and Ruina, A. 1997. Motions of a rimless spoked wheel: a simple 3D system with impacts. Dynamics and Stability of Systems 12(3): 139-160.
4. Coleman, M. J., Garcia, M., Mombaur, K., and Ruina, A. 2001. Prediction of stable walking for a toy that cannot stand. Physical Review E 64(2):022901-1-022901-3.
5. Collins, S. H., Wisse, M., and Ruina, A. 2001. A two-legged kneed passive dynamic walking robot. International Journal of Robotics Research 20(7):607-615.
6. Donelan, J. M., Kram, R., and Kuo, A. D. 2001. Mechanical and metabolic determinants of the preferred step width in human walking. Proceedings of the Royal Society of London B 268:1985-1992.
7. Donelan, J. M., Shipman, D. W., Kram, R., and Kuo, A. D. 2004. Mechanical and metabolic requirements for active lateral stabilization in human walking. Journal of Biomechanics 37:827-835.
8. Garcia, M., Chatterjee, A., Ruina, A., and Coleman, M. J. 1998. The simplest walking model: stability, complexity, and scaling. ASME Journal of Biomechanical Engineering 120(2):281-288.
9. Hubbard, M. 1979. Lateral dynamics and stability of the skateboard. Journal of Applied Mechanics 46:931-936.
10. Kuo, A. D. 1999. Stabilization of lateral motion in passive dynamic walking. International Journal of Robotics Research 18(9):917-930.
11. McGeer, T. 1990. Passive dynamic walking. International Journal of Robotics Research 9(2):62-82.
12. Piiroinen, P. T. 2002. Recurrent dynamics of non-smooth systems with application to human gait. Ph.D. Thesis, Royal Institute of Technology, Stockholm, Sweden.
13. Schwab, A. L. and Meijaard, J. P. 2003. Dynamics of flexible multibody systems with non-holonomic constraints: a finite element approach. Multibody System Dynamics 10(12):107-123.
14. Schwab, A. L. and Wisse, M. 2001. Basin of attraction of the simplest walking model. Proceedings of the ASME Design Engineering Technical Conferences, Pittsburgh, PA, Paper number DETC2001/VIB-21363.
15. Schwab, A. L., Meijaard, J. P., and Papadopoulos, J. M. 2005. Benchmark results on the linearized equations of motion of an uncontrolled bicycle. KSME Journal of Mechanical Science and Technology 19(1):292-304.
16. Tedrake, R., Zhang, T. W., Fong, M-F., and Seung, H. S. 2004. Actuating a simple 3D passive dynamic walker. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), New Orleans, LA.
17. van der Linde, R. Q. 2001. Bipedal walking with active springs, gait synthesis and prototype design. Ph.D. Thesis, Delft University of Technology, Delft, the Netherlands, November.
18. Wisse, M. and Schwab, A. L. 2001. A 3D passive dynamic biped with roll and yaw compensation. Robotica 19:275-284.
19. Wisse, M. and van Frankenhuyzen, J. 2003. Design and construction of Mike: a 2D autonomous biped based on passive dynamic walking. Proceedings of the Conference on Adaptive Motion of Animals and Machines (AMAM), Kyoto, Japan, Paper number WeP-I-1.
20. Wisse, M., Schwab, A. L., and van der Helm, F. C. T. 2004. Passive dynamic walking model with upper body. Robotica 22:681-688.
21. Wisse, M., Schwab, A. L., van der Linde, R. Q., and van der Helm, F. C. T. 2005. How to keep from falling forward: elementary swing leg action for passive dynamic walkers. IEEE Transactions on Robotics in press.