Passive and dynamic gait measures for biped mechanism: Formulation and simulation analysis

Robotica

Volumn 31, Issue 4, 2013, Pages 555-572

  Mummolo, Carlotta ^a,b   Kim, Joo H ^a  

^a POLYTECHNIC UNIVERSITY   (United States)

^b POLITECNICO DI BARI   (Italy)

Author keywords

Biped system; Dynamic gait measure (DGM); Optimization; Passive dynamic walking; Passive gait measure (PGM); Passivity weight; Stability; Static walking; Zero moment point (ZMP)

Indexed keywords

BIPED SYSTEMS; DYNAMIC GAITS; GAIT MEASURES; PASSIVE DYNAMIC WALKING; PASSIVITY WEIGHT; STATIC WALKING; ZERO MOMENT POINT;

CONVERGENCE OF NUMERICAL METHODS; OPTIMIZATION; ROBOTICS;

MOBILE ROBOTS;

EID: 84879095871     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574712000586     Document Type: Article

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