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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/15455

Title: Stability analysis of underactuated compass gait based on linearization of motion
Authors: Asano, Fumihiko
Keywords: Limit cycle walking
Stability
Convergence rate
Compass gait
Issue Date: 2014-04-02
Publisher: Springer
Magazine name: Multibody System Dynamics
Volume: 33
Number: 1
Start page: 93
End page: 111
DOI: 10.1007/s11044-014-9416-9
Abstract: This paper investigates the stability principle underlying an underactuated compass gait generated by strict output following control of the hip-joint angle. First, we introduce a planar underactuated compass-like biped robot with semicircular feet and develop its mathematical model. We then linearize the equation of motion and design an output following control for the relative hip-joint angle of the linearized model. Second, we analytically derive the transition function of the state error for the stance phase based on the state space representation and discuss its physical meaning. We also mathematically show that the collision phase is always stable. Finally, the validity of the theoretical results is verified through numerical simulations.
Rights: This is the author-created version of Springer, Fumihiko Asano, Multibody System Dynamics, 33(1), 2014, 93-111. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s11044-014-9416-9
URI: http://hdl.handle.net/10119/15455
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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