Orbital Stability of Passive Dynamic Walking on a Bumpy Surface
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چکیده
Passive dynamic walkers (PDWs) can walk down shallow slopes with no motors or feedback controllers, using gravity as their only source of power input into the system. These systems have been used to examine the stability of human locomotion. The orbital stability of these systems under “ideal” conditions has been well established (Goswami 1997). However, like humans, these PDWs can fall over if subjected to sufficiently large perturbations. Little has been done to quantify the stability properties of PDWs under non-ideal conditions.
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تاریخ انتشار 2006