Some aspects of the inverted pendulum problem for modeling of locomotion systems
- 1 December 1973
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 18 (6) , 658-661
- https://doi.org/10.1109/tac.1973.1100432
Abstract
The inverted pendulum can be used as one of the simplest models of a biped locomotion system. Problems of stability, periodic motion, and locomotion of the inverted pendulum are considered in this paper. The development algorithms of this paper hopefully can be used for study, simulation, and analysis of more realistic models of biped locomotion systems.Keywords
This publication has 7 references indexed in Scilit:
- Further studies of human locomotion: Postural stability and controlMathematical Biosciences, 1972
- On the Stability of Biped LocomotionIEEE Transactions on Biomedical Engineering, 1970
- Some considerations relating to the design of autopilots for legged vehiclesJournal of Terramechanics, 1969
- Contribution to the Synthesis of Biped GaitIEEE Transactions on Biomedical Engineering, 1969
- Paper 4: A Feasibility Study on Powered Lower-Limb ProsthesesProceedings of the Institution of Mechanical Engineers, Conference Proceedings, 1968
- Some finite state aspects of legged locomotionMathematical Biosciences, 1968
- On the input-output stability of time-varying nonlinear feedback systems--Part II: Conditions involving circles in the frequency plane and sector nonlinearitiesIEEE Transactions on Automatic Control, 1966