On the Stability of the Passive Dynamics of Quadrupedal Running with a Bounding Gait.
Ioannis PoulakakisEvangelos PapadopoulosMartin BuehlerPublished in: Int. J. Robotics Res. (2006)
Keyphrases
- legged robots
- limit cycle
- upper bound
- control scheme
- mobile robot
- dynamic model
- walking speed
- neural model
- inverted pendulum
- dynamical systems
- wearable devices
- human gait
- gait patterns
- human recognition
- initial conditions
- steady state
- lyapunov theory
- neural network
- biped robot
- stability analysis
- motion capture
- control strategy
- control system