Natural dynamics of spring-like running: emergence of self-stability
Conference Paper, Proceedings of 5th International Conference on Climbing and Walking Robots (CLAWAR '02), pp. 87 - 91, September, 2002
Abstract
In this study, the stability of conservative spring-mass running using a fixed angle of attack is addressed. For a given initial condition, different angles of attack result in periodic movement patterns. We apply a simple stride-to-stride analysis to prove the stability. Spring-like leg operation together with angle of attack control enables selfstabilised running.
BibTeX
@conference{Geyer-2002-102751,author = {Hartmut Geyer and Andre Seyfarth and Reinhard Blickhan},
title = {Natural dynamics of spring-like running: emergence of self-stability},
booktitle = {Proceedings of 5th International Conference on Climbing and Walking Robots (CLAWAR '02)},
year = {2002},
month = {September},
pages = {87 - 91},
publisher = {Professional Engineering Publishing Ltd},
address = {London},
}
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