5. 3D humanoid robots: stability and Poincaré analysis

5.1 Presentation of the order problem

Consider an eight-body robot shown in figure 16 . The robot has seven links between the bodies, some of which have more than one ddl. This is the case for the links at the ankle, which each possess two ddl of perpendicular and concurrent axes (angles q ₁ and q ₇ for the right ankle and angles q ₆ and q ₁₀ for the left ankle). This is also the case for the connections at the hips, which also each have two ddl of perpendicular and concurrent axes (angles q _...