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Articles 1 - 3 of 3
Full-Text Articles in Engineering
Derivation And Application Of A Conserved Orbital Energy For The Inverted Pendulum Bipedal Walking Model, Jerry E. Pratt, Sergey V. Drakunov
Derivation And Application Of A Conserved Orbital Energy For The Inverted Pendulum Bipedal Walking Model, Jerry E. Pratt, Sergey V. Drakunov
Sergey V. Drakunov
We present an analysis of a point mass, point foot, planar inverted pendulum model for bipedal walking. Using this model, we derive expressions for a conserved quantity, the “Orbital Energy”, given a smooth Center of Mass trajectory. Given a closed form Center of Mass Trajectory, the equation for the Orbital Energy is a closed form expression except for an integral term, which we show to be the first moment of area under the Center of Mass path. Hence, given a Center of Mass trajectory, it is straightforward and computationally simple to compute phase portraits for the system. In fact, for …
Sliding Mode Control Of The Systems With Uncertain Direction Of Control Vector, Sergey V. Drakunov
Sliding Mode Control Of The Systems With Uncertain Direction Of Control Vector, Sergey V. Drakunov
Sergey V. Drakunov
No abstract provided.
Sliding-Mode Observers Based On Equivalent Control Method, Sergey V. Drakunov
Sliding-Mode Observers Based On Equivalent Control Method, Sergey V. Drakunov
Sergey V. Drakunov
No abstract provided.