This paper presents a design method of an explicit analytical classical expression of the
Poincaré map for the passive dynamic walking (PDW) of the planar compass-gait biped …

The compass-gait biped robot is a two-DoF legged mechanical system that has been known
by its passive dynamic walking. This kind of passive biped robot is modeled by an impulsive …

本文研究了圆弧足被动行走器支撑足与地面间的摩擦系数和滚阻系数对被动行走器步态的影响.
首先分别利用扩展的赫兹接触力模型和LuGre 摩擦模型描述了支撑足与地面接触点处的法向 …

The planar compass-gait biped robot is recognized by its simple passive morphological
structure and by a complex dynamic walking system modeled by an impulsive hybrid …

This paper deals mainly with the control of the complex and rhythmic behaviors of the
passive dynamic walk of the bipedal compass-type robot. The walking gait of such biped …

This work consists in analyzing and controlling the walk of the compass‐type bipedal walker
in order to stabilize its passive dynamic gait. The dynamic walking of the compass‐gait …

In this paper, a two-DoF (degree-of-freedom) semi-passive compass-like biped model with
nonlinear impulse thrust is considered and investigated. Conditions for the existence and …

It is widely known that an appropriately built unpowered bipedal robot can walk down an
inclined surface with a passive steady gait. The features of such gait are determined by the …

This study employed an enhanced social force model to investigate the impact of
bidirectional crowd load on the vertical vibration characteristics of pedestrian bridges. The …

Parkinson's disease is a progressive neurological disorder that affects the motor system and
produces several problems to control muscles and limbs. One of the major manifestations of …