Bipedal walking with noninstantaneous double-support phase under random external force

来源 :The 5th International Conference on Dynamics, Vibration and | 被引量 : 0次 | 上传用户：info1

【摘要】

：

　　For bipedal walking,random perturbation may result in the swing foot landing in advance or later unexpectedly.This paper aims to investigate the effect of r

【作者】

：

Yimin Ge Chunbiao Gan

【机构】

：

SchoolofMechanicalEngineering,ZhejiangUniversity,Hangzhou,China

【出处】

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The 5th International Conference on Dynamics, Vibration and

【发表日期】

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2018年7期

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　　For bipedal walking,random perturbation may result in the swing foot landing in advance or later unexpectedly.This paper aims to investigate the effect of random external force on bipedal walking and presents a corresponding robust control method of swing leg retraction to stabilize periodic orbits,while assuming walking as a hybrid model that consists of a single-support phase and another noninstantaneous double-support phase.

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Bipedal walking with noninstantaneous double-support phase under random external force

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