@inproceedings{1aa95e95e5424da49fc3de71b996de22,
title = "Ankle actuation for three-dimensional limit cycle walkers in lateral balance",
abstract = "This paper presents a frontal model for the limit cycle walker which consists of upper body, flat foot and ankle stiffness, to investigate the stability of a 3-D biped by applying passive stiffness and torque in ankle joints in frontal plane to stabilize lateral motion. We compare the effects of mechanical parameters and four types of ankle actuation on lateral balance through numerical simulations. The analysis results can help the design of more stable physical robots based on limit cycle walking.",
keywords = "Ankle actuation, Bipeds, Lateral balance, Limit cycle walking, Passive dynamic walking",
author = "Qining Wang and Wei Chen and Long Wang",
year = "2010",
language = "英语",
isbn = "9814291269",
series = "Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009",
pages = "883--890",
booktitle = "Mobile Robotics",
note = "12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009 ; Conference date: 09-09-2009 Through 11-09-2009",
}