A simplified stability study for a biped walk with underactuated and overactuated phases

International Journal of Robotics Research

Volumn 24, Issue 7, 2005, Pages 537-551

  Miossec, Sylvain ^a   Aoustin, Yannick ^a  

^a INSTITUT DE RECHERCHE EN COMMUNICATIONS ET CYBERNÉTIQUE DE NANTES   (France)

Author keywords

Dynamically stable gait; Orbital stability; Passive impact; Poincar return map; Simulation results; Walking biped

Indexed keywords

COMPUTER SIMULATION; CONTROL SYSTEMS; GAIT ANALYSIS; JOINTS (ANATOMY); MATRIX ALGEBRA; POLYNOMIALS; SERVOMECHANISMS;

DYNAMICALLY STABLE GAIT; ORBITAL STABILITY; PASSIVE IMPACT; POINCARÉ RETURN MAPS; SIMULATION RESULTS; WALKING BIPED;

BIPED LOCOMOTION;

EID: 22044446133     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/0278364905055378     Document Type: Conference Paper

References (20)

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