Generation of bipedal walking through interactions among the robot dynamics, the oscillator dynamics, and the environment: Stability characteristics of a five-link planar biped robot

Autonomous Robots

Volumn 30, Issue 2, 2011, Pages 123-141

  Aoi, Shinya ^a,c   Tsuchiya, Kazuo ^b,c  

^a KYOTO UNIVERSITY   (Japan)

^b DOSHISHA UNIVERSITY   (Japan)

^c JAPAN SCIENCE AND TECHNOLOGY AGENCY   (Japan)

Author keywords

Biped robot; Central pattern generator; Optimization; Oscillator; Phase resetting; Poincar map; Stability analysis

Indexed keywords

BIPED ROBOT; CENTRAL PATTERN GENERATOR; OSCILLATOR; PHASE RESETTING; POINCARE; STABILITY ANALYSIS;

ADAPTIVE CONTROL SYSTEMS; BIPED LOCOMOTION; DYNAMICS; JOINTS (ANATOMY); OPTIMIZATION; OSCILLATORS (ELECTRONIC); ROBOTS; STABILITY; WALKING AIDS;

ROBOT PROGRAMMING;

EID: 79951669838     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1007/s10514-010-9209-9     Document Type: Article

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