So-called robot–object Lagrangian systems consist of a class of nonsmooth underactuated
complementarity Lagrangian systems, with a specific structure: an “object” and a “robot” …

本文研究了圆弧足被动行走器支撑足与地面间的摩擦系数和滚阻系数对被动行走器步态的影响.
首先分别利用扩展的赫兹接触力模型和LuGre 摩擦模型描述了支撑足与地面接触点处的法向 …

Abstract The 120-year-old so-called Painlevé paradox involves the loss of determinism in
models of planar rigid bodies in point contact with a rigid surface, subject to Coulomb-like …

Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent
advances in trajectory generation and nonlinear control for stabilization. A key assumption …

The wheeled three-link snake model is a well-known example of an underactuated robotic
system whose motion can be kinematically controlled by periodic changes of its internal …

519 (ie, controlled) robotic walkers, an analytic framework that would systematically clarify
the stability properties of the compass-gait biped is required. As a matter of fact, the Poincaré …

Most current bipedal robots were modeled with an assumption that there is no slip between
the stance foot and ground. This paper relaxes that assumption and undertakes a …

In this paper, the influences of friction coefficient and rolling resistance coefficient on the gait
of a passive dynamic walker with round feet are studied. Firstly, the normal forces and …

The 2D motion of a rigid rimless wheel on an inclined plane has been widely studied as a
first simple case of passive walker. Usually, it is modelled as a hybrid dynamical system …

For successful push recovery in response to perturbations, a humanoid robot must select an
appropriate stabilizing action. Existing approaches are limited because they are often …