Paper Info
Title
Eigenmodes of Nonlinear Dynamics: Definition, Existence, and Embodiment into Legged Robots With Elastic Elements.
Abstract
Pogo-stick bouncing or the spring loaded inverted pendulum represents fundamental dynamics models for hopping and running in legged locomotion. However, these conceptual models are in general of lower order than the elastic multibody dynamics of versatile segmented legs. The question how to embody these simple models into real robot leg designs still has not been completely answered so far. The co...
Year
DOI
Venue
2017
10.1109/LRA.2017.2658018
IEEE Robotics and Automation Letters
Keywords
Field
DocType
Legged locomotion,Nonlinear dynamical systems,Aerodynamics,Acceleration,Springs
Inverted pendulum,Oscillation,Nonlinear system,Multibody system,Robot leg,Linear system,Control theory,Control engineering,Invariant (mathematics),Engineering,Robot
Journal
Volume
Issue
ISSN
2
2
2377-3766
Citations 
PageRank 
References 
3
0.40
11
Authors
3
Name
Order
Citations
PageRank
Dominic Lakatos1478.03
Werner Friedl291.95
Alin Albu-Schaffer32831262.17