References
[1]. DSHardman, “DSHARDMAN/4linksimulator: MATLAB simulator for a 4-link robot, teaching basic robotic principles,” GitHub. [Online]. Available: https://github.com/DSHardman/4linksimulator. [Accessed: 23-Jun-2022]. H. Simpson, Dumb Robots, 3rd ed., Springfield: UOS Press, 2004, pp.6-9.
[2]. Goswami, A., Thuilot, B., & Espiau, B. (1996). Compass-like biped robot part I: Stability and bifurcation of passive gaits (Doctoral dissertation, INRIA).
[3]. McMahon, T. A., & Cheng, G. C. (1990). The mechanics of running: how does stiffness couple with speed?. Journal of biomechanics, 23, 65-78.
[4]. Geyer, H., Seyfarth, A., & Blickhan, R. (2006). Compliant leg behaviour explains basic dynamics of walking and running. Proceedings of the Royal Society B: Biological Sciences, 273(1603), 2861-2867.
[5]. Aller, F., Harant, M., Sontag, S., Millard, M., & Mombaur, K. (2021, September). I3SA: The Increased Step Size Stability Assessment Benchmark and its Application to the Humanoid Robot REEM-C. IROS (pp. 5357-5363). IEEE.
[6]. Herr, H., & Popovic, M. (2008). Angular momentum in human walking. Journal of experimental biology, 211(4), 467-481.
[7]. Shkolnik, A., & Tedrake, R. (2007, April). Inverse kinematics for a point-foot quadruped robot with dynamic redundancy resolution. In Proceedings 2007 IEEE International Conference on Robotics and Automation (pp. 4331-4336). IEEE.
[8]. Tedrake, R., Byl, K., & Pratt, J. E. (2006). Probabilistic stability in legged systems: Metastability and the mean first passage time (FPT) stability margin.
[9]. Dutta, S., Maiti, T. K., Miura-Mattausch, M., Ochi, Y., Yorino, N., & Mattausch, H. J. (2020). Analysis of sensor-based real-time balancing of humanoid robots on inclined surfaces. IEEE Access, 8, 212327-212338.
[10]. Vukobratović, M., & Stepanenko, J. (1972). On the stability of anthropomorphic systems. Mathematical biosciences, 15(1-2), 1-37.
Cite this article
Ji,H. (2023). Increasing step size of the 4-link robotic simulator in stable state. Applied and Computational Engineering,4,38-43.
Data availability
The datasets used and/or analyzed during the current study will be available from the authors upon reasonable request.
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References
[1]. DSHardman, “DSHARDMAN/4linksimulator: MATLAB simulator for a 4-link robot, teaching basic robotic principles,” GitHub. [Online]. Available: https://github.com/DSHardman/4linksimulator. [Accessed: 23-Jun-2022]. H. Simpson, Dumb Robots, 3rd ed., Springfield: UOS Press, 2004, pp.6-9.
[2]. Goswami, A., Thuilot, B., & Espiau, B. (1996). Compass-like biped robot part I: Stability and bifurcation of passive gaits (Doctoral dissertation, INRIA).
[3]. McMahon, T. A., & Cheng, G. C. (1990). The mechanics of running: how does stiffness couple with speed?. Journal of biomechanics, 23, 65-78.
[4]. Geyer, H., Seyfarth, A., & Blickhan, R. (2006). Compliant leg behaviour explains basic dynamics of walking and running. Proceedings of the Royal Society B: Biological Sciences, 273(1603), 2861-2867.
[5]. Aller, F., Harant, M., Sontag, S., Millard, M., & Mombaur, K. (2021, September). I3SA: The Increased Step Size Stability Assessment Benchmark and its Application to the Humanoid Robot REEM-C. IROS (pp. 5357-5363). IEEE.
[6]. Herr, H., & Popovic, M. (2008). Angular momentum in human walking. Journal of experimental biology, 211(4), 467-481.
[7]. Shkolnik, A., & Tedrake, R. (2007, April). Inverse kinematics for a point-foot quadruped robot with dynamic redundancy resolution. In Proceedings 2007 IEEE International Conference on Robotics and Automation (pp. 4331-4336). IEEE.
[8]. Tedrake, R., Byl, K., & Pratt, J. E. (2006). Probabilistic stability in legged systems: Metastability and the mean first passage time (FPT) stability margin.
[9]. Dutta, S., Maiti, T. K., Miura-Mattausch, M., Ochi, Y., Yorino, N., & Mattausch, H. J. (2020). Analysis of sensor-based real-time balancing of humanoid robots on inclined surfaces. IEEE Access, 8, 212327-212338.
[10]. Vukobratović, M., & Stepanenko, J. (1972). On the stability of anthropomorphic systems. Mathematical biosciences, 15(1-2), 1-37.