Stability Analysis of Passive Dynamic Walking of Quadrupeds

@article{Remy2010StabilityAO,
  title={Stability Analysis of Passive Dynamic Walking of Quadrupeds},
  author={C. David Remy and Keith W. Buffinton and Roland Siegwart},
  journal={I. J. Robotics Res.},
  year={2010},
  volume={29},
  pages={1173-1185}
}
We introduce a detailed numerical simulation and analysis framework to extend the principles of passive dynamic walking to quadrupedal locomotion. Non-linear limit cycle methods are used to identify possible gaits and to analyze the stability and efficiency of quadrupedal passive dynamic walking. In doing so, special attention is paid to issues that are inherent to quadrupedal locomotion, such as the occurrence of simultaneous contact collisions and the implications of the phase difference… CONTINUE READING
Highly Cited
This paper has 49 citations. REVIEW CITATIONS
31 Citations
17 References
Similar Papers

Citations

Publications citing this paper.
Showing 1-10 of 31 extracted citations

References

Publications referenced by this paper.
Showing 1-10 of 17 references

The adaptive significance of tetrapod gait selection

  • M. Hildebrand
  • International Journal of Computational Biology…
  • 1980
Highly Influential
4 Excerpts

Similar Papers

Loading similar papers…