Dynamic Bipedal Walking under Stick-Slip Transitions

@article{Gamus2015DynamicBW,
  title={Dynamic Bipedal Walking under Stick-Slip Transitions},
  author={Benny Gamus and Yizhar Or},
  journal={SIAM J. Applied Dynamical Systems},
  year={2015},
  volume={14},
  pages={609-642}
}
This paper studies the hybrid dynamics of bipedal robot walking under stick-slip transitions. We focus on two simple planar models with point feet: the rimless wheel and the compass biped. Unlike most of existing works in the literature that assume sticking contact between the foot and the ground, we explore the case of insufficient friction which may induce foot slippage. Numerical simulations of passive dynamic walking reveal the onset of stable periodic solutions involving stick-slip… CONTINUE READING

References

Publications referenced by this paper.
Showing 1-10 of 83 references

Dynamics and stability of a rimless spoked wheel: a simple 2D system with impacts

M. J. Coleman
Dynamical Systems: an International Journal, 25 • 2010
View 10 Excerpts
Highly Influenced

Nonsmooth Mechanics

B. Brogliato
Springer-Verlag • 1999
View 4 Excerpts
Highly Influenced

A study of the passive gait of a compass-like biped robot: Symmetry and chaos

A. T. Goswami
International Journal of Robotics Research, 17 • 1998
View 4 Excerpts
Highly Influenced

Passive Dynamic Walking

I. J. Robotics Res. • 1990
View 10 Excerpts
Highly Influenced

Nonlinear Oscillations

J. Guckenheimer, P. Holmes
Dynamical Systems, and Bifurcations of Vector Fields, Springer-Verlag, New York • 1983
View 4 Excerpts
Highly Influenced

Sur les lois du frottement de glissement

P. Painlevé
Comptes Rendus De L’Acadamie Des Sciences, • 1895
View 4 Excerpts
Highly Influenced

Similar Papers

Loading similar papers…