Stability Analysis of Bipedal Robots Using the Concept of Lyapunov Exponents
Joint Authors
Hu, Kai
Yunping, Liu
Lipeng, Wang
Ping, Mei
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-4, 4 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-28
Country of Publication
Egypt
No. of Pages
4
Main Subjects
Abstract EN
The dynamics and stability of passive bipedal robot have an important impact on the mass distribution, leg length, and the angle of inclination.
Lyapunov’s second method is difficult to be used in highly nonlinear multibody systems, due to the lack of constructive methods for deriving Lyapunov fuction.
The dynamics equation is established by Kane method, the relationship between the mass, length of leg, angle of inclination, and stability of passive bipedal robot by the largest Lyapunov exponent.
And the Lyapunov exponents of continuous dynamical systems are estimated by numerical methods, which are simple and easy to be applied to the system stability simulation analysis, provide the design basis for passive bipedal robot prototype, and improve design efficiency.
American Psychological Association (APA)
Yunping, Liu& Lipeng, Wang& Ping, Mei& Hu, Kai. 2013. Stability Analysis of Bipedal Robots Using the Concept of Lyapunov Exponents. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-4.
https://search.emarefa.net/detail/BIM-1009807
Modern Language Association (MLA)
Yunping, Liu…[et al.]. Stability Analysis of Bipedal Robots Using the Concept of Lyapunov Exponents. Mathematical Problems in Engineering No. 2013 (2013), pp.1-4.
https://search.emarefa.net/detail/BIM-1009807
American Medical Association (AMA)
Yunping, Liu& Lipeng, Wang& Ping, Mei& Hu, Kai. Stability Analysis of Bipedal Robots Using the Concept of Lyapunov Exponents. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-4.
https://search.emarefa.net/detail/BIM-1009807
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1009807