Abstract
We consider a simple model of a passive dynamic biped robot with point feet and legs without knee. The model is a switched system, which includes an inverted double pendulum. We present an asymptotic solution of the model. The first correction to the zero order approximation is shown to agree with the numerical solution with high degree of accuracy for a limited parameter range.
D. Rachinskii acknowledges the support of NSF through grant DMS-1413223. S. Yudaev and V. Sobolev were supported by the Russian Foundation for Basic Research and the Government of the Samara Region (grant 16-41-630524) and the Ministry of Education and Science of the Russian Federation under the Competitiveness Enhancement Program of Samara University (2013-2020).
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Yudaev, S.A., Rachinskii, D., Sobolev, V.A. (2018). Asymptotic Solution for a Biped Walker Model. In: Korobeinikov, A. (eds) Extended Abstracts Summer 2016. Trends in Mathematics(), vol 10. Birkhäuser, Cham. https://doi.org/10.1007/978-3-030-01153-6_17
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DOI: https://doi.org/10.1007/978-3-030-01153-6_17
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