On a normal-form analysis for a class of passive bipedal walkers
2001 (English)In: International Journal of Bifurcation and Chaos in Applied Sciences and Engineering, ISSN 0218-1274, Vol. 11, no 9, 2411-2425 p.Article in journal (Refereed) Published
This paper implements a center-manifold technique to arrive at a normal-form for the natural dynamics of a passive, bipedal rigid-body mechanism in the vicinity of infinite foot width and near-symmetric body geometry. In particular, numerical schemes are developed for finding approximate forms of the relevant invariant manifolds and the near-singular dynamics on these manifolds. The normal-form approximations are found to be highly accurate for relatively large foot widths with a range of validity extending to widths on the order of the mechanisms' height.
Place, publisher, year, edition, pages
2001. Vol. 11, no 9, 2411-2425 p.
dynamic walking, model
IdentifiersURN: urn:nbn:se:kth:diva-21076ISI: 000171996000007OAI: oai:DiVA.org:kth-21076DiVA: diva2:339773
QC 201005252010-08-102010-08-10Bibliographically approved