Please use this identifier to cite or link to this item:
https://doi.org/10.1109/TRO.2009.2026502
DC Field | Value | |
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dc.title | Planar bipedal jumping gaits with stable landing | |
dc.contributor.author | Goswami, D. | |
dc.contributor.author | Vadakkepat, P. | |
dc.date.accessioned | 2014-06-17T03:01:54Z | |
dc.date.available | 2014-06-17T03:01:54Z | |
dc.date.issued | 2009 | |
dc.identifier.citation | Goswami, D., Vadakkepat, P. (2009). Planar bipedal jumping gaits with stable landing. IEEE Transactions on Robotics 25 (5) : 1030-1046. ScholarBank@NUS Repository. https://doi.org/10.1109/TRO.2009.2026502 | |
dc.identifier.issn | 15523098 | |
dc.identifier.uri | http://scholarbank.nus.edu.sg/handle/10635/57069 | |
dc.description.abstract | In this paper, landing stability of jumping gaits is studied for a four-link planar biped model. Rotation of the foot during the landing phase leads to underactuation due to the passive degree of freedom at the toe, which results in nontrivial zero dynamics (ZD). Compliance between the foot and ground is modeled as a spring-damper system. Rotation of the foot along with the compliance model introduces switching in the ZD. The stability conditions for the "switching ZD" and closed-loop dynamics (CLD) are established. " Critical potential index" and "critical kinetic index" are introduced as measures of the stability of the CLD of the biped during landing. Landing stability is achieved by utilizing the stability conditions. Stable jumping motion is experimentally realized on a biped robot. © 2009 IEEE. | |
dc.description.uri | http://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/TRO.2009.2026502 | |
dc.source | Scopus | |
dc.subject | Biped robot | |
dc.subject | Closed-loop dynamics (CLD) | |
dc.subject | Critical potential index and critical kinetic index | |
dc.subject | Jumping gaits | |
dc.subject | Landing stability | |
dc.subject | Multiple Lyapunov function (MLF) | |
dc.subject | Singular perturbation | |
dc.subject | Switching zero dynamics (ZD) | |
dc.type | Article | |
dc.contributor.department | ELECTRICAL & COMPUTER ENGINEERING | |
dc.description.doi | 10.1109/TRO.2009.2026502 | |
dc.description.sourcetitle | IEEE Transactions on Robotics | |
dc.description.volume | 25 | |
dc.description.issue | 5 | |
dc.description.page | 1030-1046 | |
dc.identifier.isiut | 000270549300005 | |
Appears in Collections: | Staff Publications |
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