Physical constraints, fundamental limits, and optimal locus of operating points for an inverted pendulum based actuated dynamic walker.

L, Patnaik; L, Umanand

doi:10.1088/1748-3190/10/6/064001

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Physical constraints, fundamental limits, and optimal locus of operating points for an inverted pendulum based actuated dynamic walker.

Shared by NobleBlocks on Oct 26, 2015 • 12:00 AM UTC

Authors:

Patnaik L

Umanand L

Abstract

The inverted pendulum is a popular model for describing bipedal dynamic walking. The operating point of the walker can be specified by the combination of initial mid-stance velocity (v0) and step angle (φm) chosen for a given walk. In this paper, using basic mechanics, a framework of physical constr...

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