On the stability of walking systems
Abstract
We reconsider here the stability criteria usually proposed for the analysis of walking systems, exhibiting their limits and their ambiguity. We propose then some new criteria based on a thorough analysis of the dynamics of walking systems and precise definitions concerning their stability. Numerical methods are presented then to deal with these new criteria.
Domains
Robotics [cs.RO]
Origin : Files produced by the author(s)
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