@inproceedings{f500ac7bf31042a8b491bdd77db3a0ee,
title = "The analysis of passive bounding gait plane model with half-circular compliant legs",
abstract = "Robots with half-circular compliant legs have robust mechanical properties and good dynamic performance. In this paper, we select the half-circular compliant legs as the research object. Firstly, we build the plane model of robots based on the single leg model and get the dynamic equation of each phase by Lagrange function. Then we define the vertex Poincare mapping function and propose a search strategy of fixed points. Finally, we finish the simulation experiment by matlab and verify reasonable initial conditions configuration can achieve stable passive bounding locomotion and the locomotion has an anti-interference ability.",
keywords = "Plane model, Poincare mapping, bounding gait, fixed point",
author = "Wei Guo and Yuanyuan Han and Fusheng Zha and Kenan Wang and Ming Yan and Zhenyu Jiang",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017 ; Conference date: 27-08-2017 Through 31-08-2017",
year = "2017",
month = jul,
day = "2",
doi = "10.1109/ICARM.2017.8273230",
language = "英语",
series = "2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "596--601",
booktitle = "2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017",
address = "美国",
}