Title :
Some aspects of the inverted pendulum problem for modeling of locomotion systems
Author :
Hemami, Hooshang ; Weimer, Frank C. ; Koozekanani, Said H.
Author_Institution :
Ohio State University, Columbus, OH, USA
fDate :
12/1/1973 12:00:00 AM
Abstract :
The inverted pendulum can be used as one of the simplest models of a biped locomotion system. Problems of stability, periodic motion, and locomotion of the inverted pendulum are considered in this paper. The development algorithms of this paper hopefully can be used for study, simulation, and analysis of more realistic models of biped locomotion systems.
Keywords :
Legged locomotion; Stability; Actuators; Equations; Feedback loop; Foot; Humans; Limit-cycles; Power system harmonics; Signal generators; Stability criteria;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.1973.1100432
