ADDING ADAPTABLE TOE STIFFNESS AFFECTS ENERGETIC EFFICIENCY AND DYNAMIC BEHAVIORS OF LIMIT CYCLE WALKING

2014 ◽  
Author(s):  
SHIQI SUN ◽  
YAN HUANG ◽  
QINING WANG
Keyword(s):  
Limit Cycle ◽  
Energetic Efficiency ◽  
Dynamic Behaviors ◽  
Limit Cycle Walking

Analysis of limit-cycle walking for a compass-like biped robot *

2010 ◽  
Vol 43 (14) ◽  
pp. 1181-1186
Author(s):  
Leonid B. Freidovich ◽  
Anton S. Shiriaev
Keyword(s):  
Limit Cycle ◽  
Biped Robot ◽  
Limit Cycle Walking

Analysis of Fast Bipedal Walking Using Mechanism of Actively Controlled Wobbling Mass

2019 ◽  
Vol 31 (6) ◽  
pp. 871-881
Author(s):  
Yuta Hanazawa ◽  
Terumitsu Hayashi ◽  
Masaki Yamakita ◽  
Fumihiko Asano ◽  
◽  
...  
Keyword(s):  
Limit Cycle ◽  
Energy Efficient ◽  
Walking Speed ◽  
Control Method ◽  
Bipedal Walking ◽  
Bipedal Robots ◽  
Limit Cycle Walking ◽  
Novel Approach ◽  
Wobbling Mass

In this study, a novel approach was developed to achieve fast bipedal walking by using an actively controlled wobbling mass. Bipedal robots capable of achieving energy efficient limit cycle walking have been developed, and researchers have studied methods to increase their walking speed. When humans walk, their arm swinging is coordinated with the walking phases, generating a regular symmetrical motion about the torso. The bipedal robots with a wobbling mass in the torso mimicked the arm swinging by the proposed control method. We demonstrated that the proposed method is capable of increasing the bipedal walking speed.

Controlling the Walking Speed in Limit Cycle Walking

2008 ◽  
Vol 27 (9) ◽  
pp. 989-1005 ◽  
Author(s):  
D.G.E. Hobbelen ◽  
M. Wisse
Keyword(s):  
Limit Cycle ◽  
Walking Speed ◽  
Limit Cycle Walking

scholarly journals Reinforcement Learning of Potential Fields to achieve Limit-Cycle Walking

2016 ◽  
Vol 49 (14) ◽  
pp. 113-118 ◽  
Author(s):  
Denise S. Feirstein ◽  
Ivan Koryakovskiy ◽  
Jens Kober ◽  
Heike Vallery
Keyword(s):  
Reinforcement Learning ◽  
Limit Cycle ◽  
Potential Fields ◽  
Limit Cycle Walking

Model-based velocity control for Limit Cycle Walking

2011 ◽  
Author(s):  
Tuomas Haarnoja ◽  
Jose-Luis Peralta-Cabezas ◽  
Aarne Halme
Keyword(s):  
Limit Cycle ◽  
Velocity Control ◽  
Limit Cycle Walking ◽  
Model Based

Indirectly controlled limit cycle walking of combined rimless wheel based on entrainment to active wobbling motion

2014 ◽  
Vol 34 (2) ◽  
pp. 191-210 ◽  
Author(s):  
Fumihiko Asano ◽  
Isao Tokuda
Keyword(s):  
Limit Cycle ◽  
Limit Cycle Walking ◽  
Rimless Wheel
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