Dynamics of Bipedal Gait: Part I—Objective Functions and the Contact Event of a Planar Five-Link Biped
作者： Y. Hurmuzlu
DOI: 10.1115/1.2900797
关键词: Gait 、 Stability (probability) 、 Parameter space 、 Dynamical system 、 Parametric statistics 、 Control theory 、 Kinematics 、 Effect of gait parameters on energetic cost 、 Inverse problem 、 Computer science
摘要: This article presents an approach that can be followed to formulate objective functions which used prescribe the gait of a planar, five element, bipedal automaton during single support phase. The motion biped is completely characterized in terms progression speed, step length, maximum height, and stance knee bias. Kinematic relations have been derived inverse problem has solved perform parametric study correlates regions four dimensional parameter space with respective patterns
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