Planar bipedal jumping gaits with stable landing

Dip Goswami, Prahlad Vadakkepat

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

26 Citaten (Scopus)


In this paper, landing stability of jumping gaits is studied for a four-link planar biped model. Rotation of the foot during the landing phase leads to underactuation due to the passive degree of freedom at the toe, which results in nontrivial zero dynamics (ZD). Compliance between the foot and ground is modeled as a spring-damper system. Rotation of the foot along with the compliance model introduces switching in the ZD. The stability conditions for the "switching ZD" and closed-loop dynamics (CLD) are established. " Critical potential index" and "critical kinetic index" are introduced as measures of the stability of the CLD of the biped during landing. Landing stability is achieved by utilizing the stability conditions. Stable jumping motion is experimentally realized on a biped robot.

Originele taal-2Engels
Pagina's (van-tot)1030-1046
Aantal pagina's17
TijdschriftIEEE Transactions on Robotics
Nummer van het tijdschrift5
StatusGepubliceerd - 28 jul 2009
Extern gepubliceerdJa

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