A brief review of dynamics and control of underactuated biped robots
S Gupta, A Kumar - Advanced Robotics, 2017 - Taylor & Francis
Humans as bipeds enjoy certain advantages over other terrestrial systems, which motivate
us to study and develop biped robots. Underactuated biped robots adopt the energy efficient …
us to study and develop biped robots. Underactuated biped robots adopt the energy efficient …
Design of an explicit expression of the Poincaré map for the passive dynamic walking of the compass-gait biped model
This paper presents a design method of an explicit analytical classical expression of the
Poincaré map for the passive dynamic walking (PDW) of the planar compass-gait biped …
Poincaré map for the passive dynamic walking (PDW) of the planar compass-gait biped …
The compass-gait biped robot is a two-DoF legged mechanical system that has been known
by its passive dynamic walking. This kind of passive biped robot is modeled by an impulsive …
by its passive dynamic walking. This kind of passive biped robot is modeled by an impulsive …
Walking dynamics of the passive compass-gait model under OGY-based control: emergence of bifurcations and chaos
H Gritli, S Belghith - Communications in Nonlinear Science and Numerical …, 2017 - Elsevier
An analysis of the passive dynamic walking of a compass-gait biped model under the OGY-
based control approach using the impulsive hybrid nonlinear dynamics is presented in this …
based control approach using the impulsive hybrid nonlinear dynamics is presented in this …
Trajectory tracking-based control of the chaotic behavior in the passive bipedal compass-type robot
This paper deals mainly with the control of the complex and rhythmic behaviors of the
passive dynamic walk of the bipedal compass-type robot. The walking gait of such biped …
passive dynamic walk of the bipedal compass-type robot. The walking gait of such biped …
Gait cycles of passive walking biped robot model with flexible legs
Passive dynamic walking of bipeds exhibits a new concept of robot locomotion that is well-
known for its success in human mimicry. Many efforts have been devoted in the literature to …
known for its success in human mimicry. Many efforts have been devoted in the literature to …
Further analysis of the passive dynamics of the compass biped walker and control of chaos via two trajectory tracking approaches
This work consists in analyzing and controlling the walk of the compass‐type bipedal walker
in order to stabilize its passive dynamic gait. The dynamic walking of the compass‐gait …
in order to stabilize its passive dynamic gait. The dynamic walking of the compass‐gait …
Diversity in the nonlinear dynamic behavior of a one-degree-of-freedom impact mechanical oscillator under OGY-based state-feedback control law: order, chaos and …
H Gritli, S Belghith - Mechanism and Machine Theory, 2018 - Elsevier
This paper is concerned with the investigation of the nonlinear dynamic behavior of a one-
degree-of-freedom (1-DoF) impact mechanical oscillator subject to a single rigid constraint …
degree-of-freedom (1-DoF) impact mechanical oscillator subject to a single rigid constraint …
Robust master-slave synchronization of chaos in a one-sided 1-DoF impact mechanical oscillator subject to parametric uncertainties and disturbances
H Gritli - Mechanism and Machine Theory, 2019 - Elsevier
This paper addresses the problem of robust master-slave synchronization of chaos in a 1-
DoF impact mechanical oscillator with a single rigid constraint. The master is considered to …
DoF impact mechanical oscillator with a single rigid constraint. The master is considered to …
Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: Analysis of local bifurcations via the hybrid Poincaré map
H Gritli, S Belghith - Chaos, Solitons & Fractals, 2017 - Elsevier
In our previous work, we have analyzed the passive dynamic walking of the compass-gait
biped model under the OGY-based state-feedback control using the impulsive hybrid …
biped model under the OGY-based state-feedback control using the impulsive hybrid …