Exploiting the Passive Dynamics of a Compliant Leg to Develop Gait Transitions

@article{Martinez2011ExploitingTP,
  title={Exploiting the Passive Dynamics of a Compliant Leg to Develop Gait Transitions},
  author={Harold Martinez and Juan Pablo Carbajal},
  journal={Physical review. E, Statistical, nonlinear, and soft matter physics},
  year={2011},
  volume={83 6 Pt 2},
  pages={
          066707
        }
}
  • Harold Martinez, Juan Pablo Carbajal
  • Published 2011
  • Computer Science, Mathematics, Physics, Medicine
  • Physical review. E, Statistical, nonlinear, and soft matter physics
  • In the area of bipedal locomotion, the spring-loaded inverted pendulum model has been proposed as a unified framework to explain the dynamics of a wide variety of gaits. In this paper, we present an analysis of the mathematical model and its dynamical properties. We use the perspective of hybrid dynamical systems to study the dynamics and define concepts such as partial stability and viability. With this approach, on the one hand, we identify stable and unstable regions of locomotion. On the… CONTINUE READING

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