Stability analysis of passive compass gait using linearized model

  • Fumihiko Asano
  • Published 2011 in
    2011 IEEE International Conference on Robotics…


The inherent self-stabilization mechanism of passive gait is one of the most fundamental question in the area of studies on limit cycle walking. It is well known that the limit cycle stability can be tested by calculating the eigenvalues of the approximated Poincaré return map, and they have been calculated numerically in previous studies. Hirata and… (More)
DOI: 10.1109/ICRA.2011.5979647


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@article{Asano2011StabilityAO, title={Stability analysis of passive compass gait using linearized model}, author={Fumihiko Asano}, journal={2011 IEEE International Conference on Robotics and Automation}, year={2011}, pages={557-562} }