Self-stabilizing somersaults

We investigate the open-loop stability of a planar biped robot performing a periodic motion of forward somersaults with alternating single-leg contacts. The robot has a trunk and two actuated telescopic legs with point feet which are coupled to the trunk by actuated hinges. There is compliance and d...

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Veröffentlicht in:	IEEE transactions on robotics 2005-12, Vol.21 (6), p.1148-1157
Hauptverfasser:	Mombaur, K.D., Bock, H.G., Schloder, J.P., Longman, R.W.
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Applied sciences Computer science control theory systems Control Control systems Control theory. Systems Damping Exact sciences and technology Fasteners Gymnastics simulation Hip Leg Legged locomotion Movement Open loop systems open-loop stable motions periodic somersault motion Robotics Robots running robot Stability stability optimization Systems stability
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