Differentially flat design of bipeds ensuring limit cycles

IEEE/ASME Transactions on Mechatronics

Volumn 14, Issue 6, 2009, Pages 647-657

  Sangwan, Vivek ^a   Agrawal, Sunil K ^a  

^a UNIVERSITY OF DELAWARE   (United States)

Author keywords

Biped; Differential flatness; Limit cycles; Underactuated

Indexed keywords

BIPEDAL ROBOT; BIPEDAL WALKING; DESIGN METHODOLOGY; DIFFERENTIAL FLATNESS; JOINT TRAJECTORIES; LIMIT CYCLE; MOTION CONSTRAINTS; NON-LINEAR DYNAMICS; NUMERICAL OPTIMIZATIONS; PARAMETERIZED; PHYSICAL CONSTRAINTS; PLANAR BIPEDAL ROBOT; PLANNING AND CONTROL; TWO-LINK; UNACTUATED; UNDER-ACTUATION; UNDERACTUATED;

MACHINE DESIGN;

EID: 70450245275     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2009.2033593     Document Type: Article

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