• DocumentCode
    813339
  • 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
  • Volume
    18
  • Issue
    6
  • fYear
    1973
  • fDate
    12/1/1973 12:00:00 AM
  • Firstpage
    658
  • Lastpage
    661
  • 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;
  • fLanguage
    English
  • Journal_Title
    Automatic Control, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9286
  • Type

    jour

  • DOI
    10.1109/TAC.1973.1100432
  • Filename
    1100432
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=813339