Reza Dehghani

[ 1 ] - Stable Gait Planning and Robustness Analysis of a Biped Robot with One Degree of Underactuation

In this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. Stability conditions are derived by studying unactuated dynamics and using the Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...