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- W2078694839 abstract "This paper implements a center-manifold technique to arrive at a normal-form for the natural dynamics of a passive, bipedal rigid-body mechanism in the vicinity of infinite foot width and near-symmetric body geometry. In particular, numerical schemes are developed for finding approximate forms of the relevant invariant manifolds and the near-singular dynamics on these manifolds. The normal-form approximations are found to be highly accurate for relatively large foot widths with a range of validity extending to widths on the order of the mechanisms' height." @default.
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- W2078694839 date "2001-09-01" @default.
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- W2078694839 title "ON A NORMAL-FORM ANALYSIS FOR A CLASS OF PASSIVE BIPEDAL WALKERS" @default.
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- W2078694839 doi "https://doi.org/10.1142/s0218127401003462" @default.
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