TY - GEN
T1 - Quadrupedal bounding with spring-damper body joint
AU - Yamasaki, Ryuta
AU - Ambe, Yuichi
AU - Aoi, Shinya
AU - Matsuno, Fumitoshi
PY - 2013
Y1 - 2013
N2 - Stable locomotion indicates a stable limit cycle generated in the dynamic system. Although quadrupedal bound gait models have been investigated, there is no research which shows the generation of limit cycle and its dynamic properties. In the present study, we analyze a quadrupedal bound gait model which goes down slope and has back and front bodies with spring-damper joint between the bodies. We found the periodic bound gait which achieves a stable limit cycle and convergence property against perturbations.
AB - Stable locomotion indicates a stable limit cycle generated in the dynamic system. Although quadrupedal bound gait models have been investigated, there is no research which shows the generation of limit cycle and its dynamic properties. In the present study, we analyze a quadrupedal bound gait model which goes down slope and has back and front bodies with spring-damper joint between the bodies. We found the periodic bound gait which achieves a stable limit cycle and convergence property against perturbations.
UR - http://www.scopus.com/inward/record.url?scp=84893804989&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893804989&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696685
DO - 10.1109/IROS.2013.6696685
M3 - Conference contribution
AN - SCOPUS:84893804989
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2345
EP - 2350
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -