NDLI: Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture

Content Provider	Springer Nature Link
Author	Asa, Fumihiko
Copyright Year	2015
Abstract	This paper proposes a fully analytical solution to the discrete behavior of hybrid zero dynamics (HZD) in limit cycle walking with constraint on impact posture. First, we introduce a passive rimless wheel and explain the stability principle through derivations of the analytical transition functions of the state error for the stance and collision phases. Second, we consider an active rimless wheel driven by a steady control input for investigating the stability of semi-passive dynamic walking, and propose a method for analytically deriving the transition function for the stance phase without including unknown parameters. We then numerically investigate the solution accuracy and discuss how the discrete behavior of the HZD changes according to the control parameters. Furthermore, we extend the analysis to level walking of an underactuated rimless wheel with a torso and show that the discrete behavior of the HZD can be determined in the same manner.
Starting Page	191
Ending Page	213
Page Count	23
File Format	PDF
ISSN	13845640
Journal	Multibody System Dynamics
Volume Number	35
Issue Number	2
e-ISSN	1573272X
Language	English
Publisher	Springer Netherlands
Publisher Date	2015-01-15
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Limit cycle walking Stability Analytical solution Linearization Quadratic approximation Vibration, Dynamical Systems, Control Optimization Electrical Engineering Mechanical Engineering Automotive Engineering
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Mechanical Engineering Aerospace Engineering Modeling and Simulation Computer Science Applications

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