Year: 2019
Type: preprint
Abstract: In bipedal gait design literature, one of the common ways of generating stable 3D walking gait is by designing the frontal and sagittal controllers as decoupled dynamics. The study of the decoupled frontal dynamics is, however, still understudied if compared with the sagittal dynamics. In this paper it is presented a formal approach to the problem of frontal dynamics stabilization by extending the hybrid zero dynamics framework to deal with the frontal gait design problem.
Source: arXiv (Cornell University)
Authors: de Oliveira, Arthur, Vicinansa, Guilherme, da Silva, Paulo, Angélico, Bruno
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W2943733943