Stability of planar biped models by simultaneous pole assignment and decoupling
- 31 December 1979
- journal article
- research article
- Published by Taylor & Francis in International Journal of Systems Science
- Vol. 11 (1) , 65-75
- https://doi.org/10.1080/00207728008966997
Abstract
Equations of motion are derived for a planar linkage system [i.e., prostheses, locomotion systems, vertebral column of humans and animals] of arbitrary length with an actuator at every joint. The system is stabilized by simultaneous pole assignment and decoupling. Estimates of the region of stability are obtained by computation of Lyapunov functions. These methods are applied to obtain numerical results for 2 biped models.This publication has 0 references indexed in Scilit: