| contributor author | Koop, Derek | |
| contributor author | Wu, Christine Q. | |
| date accessioned | 2017-05-09T00:57:00Z | |
| date available | 2017-05-09T00:57:00Z | |
| date issued | 2013 | |
| identifier issn | 1555-1415 | |
| identifier other | cnd_8_4_041008.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/151158 | |
| description abstract | Passive dynamic walking is an excellent tool for evaluating biped stability measures, due to its simplicity, but an understanding of the stability, in the classical definition, is required. The focus of this paper is on analyzing the stability of the passive dynamic gait. The stability of the passive walking model, validated in Part I, was analyzed with Lyapunov exponents, and the geometry of the basin of attraction was determined. A novel method was created to determine the 2D projection of the basin of attraction of the model. Using the insights gained from the stability analysis, the relation between the angular momentum and the stability of gait was examined. The angular momentum of the passive walker was not found to correlate to the stability of the gait. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Passive Dynamic Biped Walking—Part II: Stability Analysis of the Passive Dynamic Gait | |
| type | Journal Paper | |
| journal volume | 8 | |
| journal issue | 4 | |
| journal title | Journal of Computational and Nonlinear Dynamics | |
| identifier doi | 10.1115/1.4023933 | |
| journal fristpage | 41008 | |
| journal lastpage | 41008 | |
| identifier eissn | 1555-1423 | |
| tree | Journal of Computational and Nonlinear Dynamics:;2013:;volume( 008 ):;issue: 004 | |
| contenttype | Fulltext | |