IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/546520.html
   My bibliography  Save this article

Stability Analysis of Bipedal Robots Using the Concept of Lyapunov Exponents

Author

Listed:
  • Liu Yunping
  • Wang Lipeng
  • Mei Ping
  • Hu Kai

Abstract

The dynamics and stability of passive bipedal robot have an important impact on the mass distribution, leg length, and the angle of inclination. Lyapunov’s second method is difficult to be used in highly nonlinear multibody systems, due to the lack of constructive methods for deriving Lyapunov fuction. The dynamics equation is established by Kane method, the relationship between the mass, length of leg, angle of inclination, and stability of passive bipedal robot by the largest Lyapunov exponent. And the Lyapunov exponents of continuous dynamical systems are estimated by numerical methods, which are simple and easy to be applied to the system stability simulation analysis, provide the design basis for passive bipedal robot prototype, and improve design efficiency.

Suggested Citation

  • Liu Yunping & Wang Lipeng & Mei Ping & Hu Kai, 2013. "Stability Analysis of Bipedal Robots Using the Concept of Lyapunov Exponents," Mathematical Problems in Engineering, Hindawi, vol. 2013, pages 1-4, November.
    • Handle: RePEc:hin:jnlmpe:546520
    DOI: 10.1155/2013/546520
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/MPE/2013/546520.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/MPE/2013/546520.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2013/546520?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:546520. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.