Title :
Poincare´s method for systems with impulse effects: application to mechanical biped locomotion
Author :
Grizzle, J.W. ; Plestan, Franck ; Abba, Gabriel
Author_Institution :
Control Syst. Lab., Michigan Univ., Ann Arbor, MI, USA
fDate :
6/21/1905 12:00:00 AM
Abstract :
The existence and stability properties of periodic orbits are studied for nonlinear systems with impulse effects. This is achieved with an extension of the well-known method of Poincare. The main result is then applied to a model of an under actuated, five degree of freedom biped robot with a torso in order to prove, for the first time, the existence of an asymptotically stable walking cycle
Keywords :
asymptotic stability; legged locomotion; nonlinear systems; robot dynamics; transient response; Poincare method; asymptotic stability; biped locomotion; biped robot; impulse response; nonlinear systems; torso; Clocks; Differential equations; Legged locomotion; Limit-cycles; Mechanical factors; Nonlinear systems; Orbital robotics; Orbits; Stability; Torso;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.827961
