Analysis of stable limit cycle in passive walking

Proceedings of the SICE Annual Conference

Volumn 1, Issue , 2003, Pages 117-122

  Ikemata, Y ^a   Sano, A ^a   Fujimoto, H ^a  

^a NAGOYA INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

Leg exchange; Limit cycle; Passive walking; Singular value decomposition

Indexed keywords

ROBOTS; SINGULAR VALUE DECOMPOSITION;

A-STABLE; BIPED ROBOT; GAIT CYCLES; HUMAN LOCOMOTIONS; LIMIT-CYCLE; PASSIVE WALKING; SLOPE ANGLES; STABLE LIMIT CYCLE;

DYNAMICS;

EID: 84945177165     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (13)

1. J. Furusho and A. Sano: "Sensor-Based Control of a Nine-Link Biped," The Int. J. of Robotics Research, Vol. 9, No. 2, pp. 83-98, 1990.
2. T. McGeer: "Passive Dynamic Walking," The Int. J. of Robotics Research, Vol. 9, No. 2 pp. 62-82, 1990.
3. A. Goswami, B. Thuilot and B. Espau: "Compasslike Biped Robot Part I: Stability and Bifurcation of Passive Gaits," Technical Report 2996 INRIA, 1996.
4. A. Goswami, B. Thuilot and B. Espau: "A Study of the Passive Gait of a Compass-Like Biped Robot: Symmetry and Chaos," The Int. J. of Robotics Research, Vol. 17, No. 12, pp. 1282-1301, 1998.
5. M. Garcia, A. Chatterjee, A. Ruina and M. Goteman: "The Simplest Walking Model: Stability, Complexity, and Scaling," J. of Biomechanical Engineering, Vol. 120, pp. 281-288, 1998.
6. K. Osuka and K. Kirihara: "Motion Analysis and Experiments of Passive Walking Robot QUARTET II," Proc. of the 2000 IEEE Int. Conf. on Robotics & Automation, pp. 3052-3056, 2000.
7. S. H. Collins, M. Wisse, and A. Ruina: "A Three-Dimensional Passive-Dynamic Walking Robot with Two Legs and Knees," The Int. J. of Robotics Research, Vol. 20, No. 7, pp. 607-615, 2001.
8. Y. lkemata, A. Sano, H. Fujimoto: "Analysis of Passive Walking from Energy Function and Eigenvalues," Proc. of the Int. Sym. on Adaptive Motion of Animals and Machines, WeP-I-5, 2003.
9. A. Sano, Y. Ikemata, H. Fujimoto: Analysis of Dynamics of Passive Walking from Storage Energy and Supply Rate, Proc. of the 2009 IEEE Int. Conf. on Robotics and Automation, to appear, 2003.
10. F. Asano, M. Yamakita and K. Furuta: "Virtual Passive Dynamic Walking and Energy-based Control Laws," Proc. of the 2000 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1149-1154, 2000.
11. M. Haruna, M. Ogino, K. Hosoda, and M. Asada: "Yet Another Humanoid Walking: Passive Dynamic Walking with Torso under Simple Control," Proc. of the. 2001 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 259-264, 2001.
12. Y. Sugimoto and K. Osuka: "Motion Generate and Control of Quasi-Passive-Dynamic-Walking based on the concept of Delayed Feedback Control," Proc. of the Int. Sym. on Adaptive Motion of Animals and Machines, WeP-I-2, 2003.
13. Y. Hurmuzlu and T. Chang: "Rigid Body Collisions of a Special Class of Planar Kinematic Chains," IEEE Trans, on Systems, Man, Cybernetics, Vol. xx, pp. 964-971, 1992.