Evidence map›Paper›PMID 38641732›Full record

ArticleBiological cybernetics2024

Controlling flat-foot limit cycle walkers with compliant joints based on local stability variation.

Yan Huang, Yue Gao, Qiang Huang, Qining Wang

Abstract read
PubMed Publisher
In one paragraph

Article in Biological cybernetics, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it
0cells of the map it votes in
0citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

4 authors.

Yan HuangSchool of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
Yue GaoChina Institute of Atomic Energy, Beijing, 102413, China.
Qiang HuangSchool of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
Qining WangDepartment of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing, 100871, China. qiningwang@pku.edu.cn.

Funding

National Natural Science Foundation of China 62073038, 51922015
6 · The paper itself

Abstract

This study investigates local stability of a four-link limit cycle walking biped with flat feet and compliant ankle joints. Local stability represents the behavior along the solution trajectory between Poincare sections, which can provide detailed information about the evolution of disturbances. The effects of ankle stiffness and foot structure on local stability are studied. In addition, we apply a control strategy based on local stability analysis to the limit cycle walker. Control is applied only in the phases with poor local stability. Simulation results show that the energy consumption is reduced without sacrificing disturbance rejection ability. This study may be helpful in motion control of limit cycle bipedal walking robots with flat feet and ankle stiffness and understanding of human walking principles.

Indexed as

FootWalkingAnkle JointBiomechanical PhenomenaComputer SimulationGaitHumansModels, BiologicalRoboticsAnkle stiffnessBipedal robotsFlat feetLimit cycle walkingLocal stability

Identifiers

PMID38641732

What OpenQuestion holds

Textmetadata
Read underepoch 390

Registered trials

None linked

Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.