Hierarchical Implicit Feedback Structure in Passive Dynamic Walking-Reference-Cited by-同舟云学术

Hierarchical Implicit Feedback Structure in Passive Dynamic Walking

Published:2008-08-20 Issue:4 Volume:20 Page:559-566
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Sugimoto Yasuhiro, ,Osuka Koichi

Abstract

Using a linearized analytical Poincaré map, we analyzed the stability of Passive Dynamic Walking (PDW), focusing on bifurcation phenomenon in PDW. Although it is well-known, bifurcation of the walking period has not been well studied. Based on our previous research, we derive an analytical Poincaré map for 2-period walking to discuss PDW stability of PDW with this map. In addition, we point out that there is a similar interesting structure in this Poincaré map.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

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