Hardt, Michael; von Stryk, Oskar Dynamic modeling in the simulation, optimization, and control of bipedal and quadrupedal robots. (English) Zbl 1063.70006 ZAMM, Z. Angew. Math. Mech. 83, No. 10, 648-662 (2003). Summary: We discuss fundamental principles and recent methods for investigating the nonlinear dynamics of legged robot motions with respect to control, stability, and design. One of them is the still challenging problem of producing dynamically stable gaits. The generation of fast walking or running motions requires handling the nonlinear dynamical effects and stability. Here we presenet reduced, recursive multibody algorithms, a numerical optimal control method, and new stability and energy performance indices which are well-suited for this purpose. Difficulties and open problems are discussed along with numerical investigations into the proposed gait generation scheme. Our analysis considers both bipedal and quadrupedal gaits. Cited in 4 Documents MSC: 70E60 Robot dynamics and control of rigid bodies 70E50 Stability problems in rigid body dynamics 93C85 Automated systems (robots, etc.) in control theory 70-08 Computational methods for problems pertaining to mechanics of particles and systems Keywords:dynamically stable gaits; recursive multibody algorithms; numerical optimal control method Software:SNOPT; Dymola PDFBibTeX XMLCite \textit{M. Hardt} and \textit{O. von Stryk}, ZAMM, Z. Angew. Math. Mech. 83, No. 10, 648--662 (2003; Zbl 1063.70006) Full Text: DOI