Analysis of dynamics of passive walking from storage energy and supply rate
Analysis of dynamics of passive walking from storage energy and supply rate
复制标题
从储能和供给率分析被动行走的动态
DOI：
10.1109/robot.2003.1241965
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
H. Fujimoto
中科院分区：
文献类型：
--
作者：
A. Sano;Y. Ikemata;H. Fujimoto
被动行走机器人通过步行者的动力学与环境(坡度)的相互作用，以自然步态动态下行。该机器人存在稳定的极限环，且在较大坡度时步态分叉。对被动行走的动力学分析有助于理解人类的运动和步行机的发展。本文从“储能”和“供给率”两个方面分析了被动行走的动力学。我们还证明了当1周期步态变为2周期步态时，稳定不动点变得不稳定。
Passive walking robot can dynamically walk down with natural gait by the interaction between walker's dynamics and environment (slope). This robot exhibits a stable limit cycle and its gait bifurcates for larger slope. Analysis of dynamics of passive walking may be useful for understanding human locomotion and development of walking machine. In this paper, we analyze dynamics of passive walking from the aspect of "storage energy" and "supply rate". We also demonstrate that a stable fixed point becomes unstable when 1-periodic gait turns 2-periodic.
DOI：
10.1109/iros.2001.973368
发表时间：
2001-10
期刊：
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)
影响因子：
--
作者：
M. Haruna;M. Ogino;K. Hosoda;M. Asada
通讯作者：
M. Haruna;M. Ogino;K. Hosoda;M. Asada
影响因子：
9.2
作者：
MCGEER, T
通讯作者：
MCGEER, T