TY - GEN
T1 - Local stability of flat-foot dynamic bipedal walking with compliant joints
AU - Huang, Yan
AU - Gao, Yue
AU - Wang, Qining
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/4/26
Y1 - 2017/4/26
N2 - In this paper, we investigate the local stability of a flat-foot limit cycle walking model with compliant ankle joints, and analyze the effects of ankle stiffness and foot inertial and geometric parameters on disturbance rejection. These results can provide a further understanding of local behaviors of different phases in one step and guidelines for stiffness control and flat foot design towards stable walking of bipedal robots.
AB - In this paper, we investigate the local stability of a flat-foot limit cycle walking model with compliant ankle joints, and analyze the effects of ankle stiffness and foot inertial and geometric parameters on disturbance rejection. These results can provide a further understanding of local behaviors of different phases in one step and guidelines for stiffness control and flat foot design towards stable walking of bipedal robots.
UR - https://www.scopus.com/pages/publications/85019549904
U2 - 10.1109/ICIT.2017.7915465
DO - 10.1109/ICIT.2017.7915465
M3 - 会议稿件
AN - SCOPUS:85019549904
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 819
EP - 824
BT - 2017 IEEE International Conference on Industrial Technology, ICIT 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Industrial Technology, ICIT 2017
Y2 - 23 March 2017 through 25 March 2017
ER -