Energy plane analysis for passive dynamic walking

In this paper, we introduce a novel concept to explore passive dynamic walking. When a planar bipedal robot walks down a shallow slope without any actuations, the total energy of the system moves dynamically because of interactions between energy loss and gain at impact. Our approach is to plot ener...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Jae-Sung Moon, Spong, Mark W.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Equations Kinetic energy Legged locomotion Limit-cycles Stability analysis Trajectory Wheels
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