Title :
Stable, unstable and chaotic motions of bipedal walking robots without feedback
Author :
Mombaur, Katja D. ; Bock, Hans Georg ; Longman, Richard W.
Author_Institution :
Heidelberg Univ., Germany
Abstract :
We study the periodic motion of passive open-loop-controlled walking robots that are modelled as nonlinear oscillatory systems including discontinuities in the state variables. A numerically efficient method for finding periodic orbits and analysing their stability is presented. The effects of model parameter variations and different objective functions on the stability and other properties of the trajectories are discussed
Keywords :
chaos; legged locomotion; motion control; nonlinear control systems; nonlinear dynamical systems; open systems; oscillations; periodic control; stability; telerobotics; time-varying systems; bipedal walking robots; chaotic motions; model parameter variations; nonlinear oscillatory systems; objective functions; passive open-loop-controlled walking robots; periodic motion; periodic orbits; stability; stable motions; state variable discontinuities; unstable motions; Chaos; Control systems; Equations; Feedback; Leg; Legged locomotion; Motion control; Open loop systems; Robot kinematics; Thigh;
Conference_Titel :
Control of Oscillations and Chaos, 2000. Proceedings. 2000 2nd International Conference
Conference_Location :
St. Petersburg
Print_ISBN :
0-7803-6434-1
DOI :
10.1109/COC.2000.873972
