An Improved Method for Estimating the Domain of Attraction of Passive Biped Walker
نویسندگان
چکیده
منابع مشابه
From Passive Dynamic Walking to Passive Turning of Biped walker
Dynamically stable biped robots mimicking human locomotion have received significant attention over the last few decades. Formerly, the existence of stable periodic gaits for straight walking of passive biped walkers was well known and investigated as the notion of passive dynamic walking. This study is aimed to elaborate this notion in the case of three dimensional (3D) walking and extend it f...
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An optimization based method is proposed in this paper for the computation of Lyapunov functions and regions of attractions for nonlinear systems containing polynomial and rational terms. The Lyapunov function is given in a special quadratic form, and the negativity of its derivative is ensured using appropriate LMI conditions. The conservatism of the solution is reduced by utilizing Finsler’s ...
متن کاملfrom passive dynamic walking to passive turning of biped walker
dynamically stable biped robots mimicking human locomotion have received significant attention over the last few decades. formerly, the existence of stable periodic gaits for straight walking of passive biped walkers was well known and investigated as the notion of passive dynamic walking. this study is aimed to elaborate this notion in the case of three dimensional (3d) walking and extend it f...
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Passive dynamic bipedal walking (PDW) is an attractive topic not only for robotics field but also the other scientific fields, i.e. physics and biology. In order to clarify its mechanism of walking, many researchers have developed various PDW machines. We also have developed several 3D PDW with flat feet and ankle springs. However there are no researches on the measurement of 3-D PDW gait, whic...
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ژورنال
عنوان ژورنال: Discrete Dynamics in Nature and Society
سال: 2019
ISSN: 1026-0226,1607-887X
DOI: 10.1155/2019/2868543