Title :
On the Stability of Biped Locomotion
Author :
Vukobratovic, M. ; Frank, A.A. ; Juricic, D.
Author_Institution :
Mihailo Pupin Institute, Belgrade, Yugoslavia.
Abstract :
The stability of legged machines in locomotion is considered. The general machine has a rigid body to which legs are attached. Locomotion is performed on level smooth surfaces.
Keywords :
Actuators; Control systems; Earth; Force control; Leg; Legged locomotion; Nonlinear dynamical systems; Nonlinear systems; Stability; Torque; Biomechanics; Humans; Locomotion; Models, Theoretical;
Journal_Title :
Biomedical Engineering, IEEE Transactions on
DOI :
10.1109/TBME.1970.4502681
