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JRM Vol.20 No.4 pp. 559-566
doi: 10.20965/jrm.2008.p0559
(2008)

Paper:

Hierarchical Implicit Feedback Structure in Passive Dynamic Walking

Yasuhiro Sugimoto and Koichi Osuka

Department of Mechanical Engineering, Graduate School of Science and Technology, Kobe University, Kobe, Japan, 1-1 Rokkodai-cho, Nada, Kobe 657-8501, Japan

Received:
February 5, 2008
Accepted:
April 23, 2008
Published:
August 20, 2008
Keywords:
Passive Dynamic Walking, Poincaré map, stability analysis, bifurcation
Abstract

Using a linearized analytical Poincaré map, we analyzed the stability of Passive Dynamic Walking (PDW), focusing on bifurcation phenomenon in PDW. Although it is well-known, bifurcation of the walking period has not been well studied. Based on our previous research, we derive an analytical Poincaré map for 2-period walking to discuss PDW stability of PDW with this map. In addition, we point out that there is a similar interesting structure in this Poincaré map.

Cite this article as:
Y. Sugimoto and K. Osuka, “Hierarchical Implicit Feedback Structure in Passive Dynamic Walking,” J. Robot. Mechatron., Vol.20, No.4, pp. 559-566, 2008.
Data files:
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