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CDC
2008
IEEE

A passive 2DOF walker: Finding gait cycles using virtual holonomic constraints

12 years 1 months ago
A passive 2DOF walker: Finding gait cycles using virtual holonomic constraints
— A planar compass-like biped on a shallow slope is the simplest model of a passive walker. It is a two-degrees-offreedom impulsive mechanical system known to possess periodic solutions reminiscent to human walking. Finding such solutions is a challenging task. We propose a new approach to obtain stable as well as unstable hybrid limit cycles without integrating the full set of differential equations. The procedure is based on exploring the idea of parameterizing a possible periodic solution via virtual holonomic constraints. We also show that a 2-dimensional manifold, defining the hybrid zero dynamics associated with a stable hybrid cycle, in general, is not invariant for the dynamics of the model of the compass-gait walker.
Leonid B. Freidovich, Uwe Mettin, Anton S. Shiriae
Added 29 May 2010
Updated 29 May 2010
Type Conference
Year 2008
Where CDC
Authors Leonid B. Freidovich, Uwe Mettin, Anton S. Shiriaev, Mark W. Spong
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