Walking dynamics of a semi-passive compass-like robot with impulse thrust

Zhou, Guanfeng; Hui, Xianfei; Chen, Jiarui; Jiang, Guirong

doi:10.1007/s11071-022-08035-9

Cited by 8 publications

(4 citation statements)

References 26 publications

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“…where J is the inertia matrix, H includes coriolis and centrifugal terms, G includes gravity forces, B is the input matrix and u represents the torque applied at the hip joint [6,24]. Normalizing (2.1) in time by l/g and assumption m/m H 1 [25].…”

Section: Dynamic Model Of Robotsmentioning

confidence: 99%

“…Let θ=false[θs, θnsfalse]T be the vector of generalized coordinates of the biped model. Then, the swing motion is defined by the following dynamics: Jfalse(θfalse)θ¨+Hfalse(θ,θ˙false)θ˙+Gfalse(θfalse)=Bu, where J is the inertia matrix, H includes coriolis and centrifugal terms, G includes gravity forces, B is the input matrix and u represents the torque applied at the hip joint [6,24].…”

Section: Dynamic Model Of Robotsmentioning

confidence: 99%

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Periodic gaits and flip bifurcation of a biped robot walking on level ground with two feasible switching patterns of motion

et al. 2023

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In this article, a biped robot walking on horizontal ground with two feasible switching patterns of motion (two-phase gait and three-phase gait) is presented. By using the first-order Taylor approximate at the equilibrium point, a simplified linear continuous dynamic equation is obtained to discuss the walking dynamics of the biped robot. Conditions for the existence and stability of period-1 gaits ( P ( 1 , 2 ) , P ( 1 , 3 ) ) and period-2 gaits ( P ( 2 , 2 , 2 ) , P ( 2 , 2 , 3 ) , P ( 2 , 3 , 3 ) ) are obtained by using a discrete map. Among the periodic gaits, the P ( 2 , 2 , 3 ) type gait has never been reported in previous studies. Flip bifurcation of periodic gait is investigated. Numerical results for periodic gaits and bifurcation diagram are in good agreement with the theoretical analysis.

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Section: Dynamic Model Of Robotsmentioning

confidence: 99%

Section: Dynamic Model Of Robotsmentioning

confidence: 99%

Periodic gaits and flip bifurcation of a biped robot walking on level ground with two feasible switching patterns of motion

et al. 2023

Self Cite

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“…Meng and Song presented a challenge terrain walking bipedal robot for complex terrains [ 5 ]. Zhou et al explored the gait control and dynamic walking characteristics of a semi-passive compass-like bipedal robot using impulsive propulsion [ 6 ]. Added et al proposed a trajectory tracking-based control method to control the chaotic behavior of compass-like robots, further analyzing passive dynamics and chaotic control of compass-like bipedal robots [ 7 , 8 ].…”

Section: Introductionmentioning

confidence: 99%

Design, Control, and Validation of a Symmetrical Hip and Straight-Legged Vertically-Compliant Bipedal Robot

Tang,

Zhu,

Gan

et al. 2023

Biomimetics

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This paper presents the development, modeling, and control of L03, an underactuated 3D bipedal robot with symmetrical hips and straight legs. This innovative design requires only five actuators, two for the legs and three for the hips. This paper is divided into three parts: (1) mechanism design and kinematic analysis; (2) trajectory planning for the center of mass and foot landing points based on the Divergent Component of Motion (DCM), enabling lateral and forward walking capabilities for the robot; and (3) gait stability analysis through prototype experiments. The primary focus of this study is to explore the application of underactuated symmetrical designs and determine the number of motors required to achieve omnidirectional movement of a bipedal robot. Our simulation and experimental results demonstrate that L03 achieves simple walking with a stable and consistent gait. Due to its lightweight construction, low leg inertia, and straight-legged design, L03 can achieve ground perception and gentle ground contact without the need for force sensors. Compared to existing bipedal robots, L03 closely adheres to the characteristics of the linear inverted pendulum model, making it an invaluable platform for future algorithm research.

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“…The discrete dynamic is expressed by instantaneous state jump which follows the impulseswitching signal. Due to wide application in biology [2], robots [3], extensive studies have been conducted on the dynamical behavior of impulsive switched systems such as finite-time stability [4], asymptotic stability [5], and so forth.…”

mentioning

confidence: 99%

Input-to-State Stability of Impulsive Switched Systems Involving Uncertain Impulse-Switching Moments

Liu,

Wei

et al. 2024

IEEE/CAA J. Autom. Sinica

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Walking dynamics of a semi-passive compass-like robot with impulse thrust

Cited by 8 publications

References 26 publications

Periodic gaits and flip bifurcation of a biped robot walking on level ground with two feasible switching patterns of motion

Periodic gaits and flip bifurcation of a biped robot walking on level ground with two feasible switching patterns of motion

Design, Control, and Validation of a Symmetrical Hip and Straight-Legged Vertically-Compliant Bipedal Robot

Input-to-State Stability of Impulsive Switched Systems Involving Uncertain Impulse-Switching Moments

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