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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/15454

Title: Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture
Authors: Asano, Fumihiko
Keywords: Limit cycle walking
Analytical solution
Quadratic approximation
Issue Date: 2015-01-15
Publisher: Springer
Magazine name: Multibody System Dynamics
Volume: 35
Number: 2
Start page: 191
End page: 213
DOI: 10.1007/s11044-014-9445-4
Abstract: This paper proposes a fully analytical solution to the discrete behavior of hybrid zero dynamics (HZD) in limit cycle walking with constraint on impact posture. First, we introduce a passive rimless wheel and explain the stability principle through derivations of the analytical transition functions of the state error for the stance and collision phases. Second, we consider an active rimless wheel driven by a steady control input for investigating the stability of semi-passive dynamic walking, and propose a method for analytically deriving the transition function for the stance phase without including unknown parameters. We then numerically investigate the solution accuracy and discuss how the discrete behavior of the HZD changes according to the control parameters. Furthermore, we extend the analysis to level walking of an underactuated rimless wheel with a torso and show that the discrete behavior of the HZD can be determined in the same manner.
Rights: This is the author-created version of Springer, Fumihiko Asano, Multibody System Dynamics, 35(2), 2015, 191-213. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s11044-014-9445-4
URI: http://hdl.handle.net/10119/15454
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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