26 search results - page 1 / 6 » Stability Analysis of Passive Dynamic Walking of Quadrupeds |
IJRR
2010
13 years 9 months ago
2010
We introduce a detailed numerical simulation and analysis framework to extend the principles of passive dynamic walking to quadrupedal locomotion. Non-linear limit cycle methods a...
ICRA
2009
IEEE
14 years 5 months ago
2009
IEEE
— Dynamic stability allows running animals to maintain preferred speed during locomotion over rough terrain. It appears that rapid disturbance rejection is an emergent property o...
IJRR
2006
13 years 11 months ago
2006
This paper reports how and to what extent the mass distribution of a passive dynamic walker can be tuned to maximize walking speed and stability. An exploration of the complete pa...
IROS
2009
IEEE
14 years 5 months ago
2009
IEEE
— Many critical elements for statically stable walking for legged robots have been known for a long time, including stability criteria based on support polygons, good foothold se...
AROBOTS
2002
13 years 10 months ago
2002
Abstract. To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the...