Limit Cycles in a Passive Compass Gait Biped and Passivity-Mimicking Control Laws

• 1 January 1997
• journal article
• Published by Springer Nature in Autonomous Robots
• Vol. 4  (3) , 273-286
• https://doi.org/10.1023/a:1008844026298

Abstract

Keywords

• HUMAN LOCOMOTION
• PASSIVE COMPASS GAITBIPED
• GRAVITATIONAL POTENTIAL ENERGY
• PERFORMANCE OFSEVERAL ACTIVE CONTROL
• PASSIVE LIMIT CYCLE
• DOUBLE PENDULUM
• PASSIVITY-MIMICKING CONTROL LAWS
• BASINOF ATTRACTION
• ACTIVEWALKING MACHINE
• LIMIT CYCLES
• ASYMMETRIC PASSIVE GAIT
• PASSIVE NATURAL MOTION
• ACTIVE CONTROL