A Stability Mechanism of the Fixed Point in Passive Walking
A Stability Mechanism of the Fixed Point in Passive Walking
复制标题
被动行走中定点的稳定机制
DOI：
10.7210/jrsj.23.839
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
H. Fujimoto
中科院分区：
文献类型：
--
作者：
Y. Ikemata;A. Sano;H. Fujimoto
被动步行者可以沿着浅斜坡行走，除了重力之外没有任何能量来源。这个动作非常吸引人，因为它的步态非常自然、理想。此外，步行器可以表现出稳定的极限环。被动行走的动力学是非常有趣的目标，对于理解人类运动和开发双足机器人非常重要。尽管被动步行器在机械上很简单，但它们是一种具有切换条件的混合系统，结合了描述摆动运动和腿部交换的非线性微分方程。这使得分析变得困难。在本文中，我们重点研究被动步行中固定点的稳定性机制。为了尽可能简单和清晰，我们使用被称为最简单步行模型的两足动物模型，并将脚跟着地时的腿间角度视为变量。稳定性条件方程由离散动力系统的特征值导出。我们展示了形成固定点的物理结构及其稳定性机制。
A passive walker can walk down shallow slope with no energy source other than gravity. This motion is very attractive because its gait is really natural and ideal. Moreover, the walker can exhibit a stable limit cycle. Dynamics of passive walking is very interesting target and important for understanding human locomotion and developing the biped robots. Though the passive walkers are mechanically simple, they are a sort of hybrid systems with the switching condition which combines the nonlinear differential equations describing the swing motion and the leg-exchange. This makes it difficult to analyze. In this paper, we focus on the mechanism of stability of fixed points in passive walking. For the sake of simplicity and clarity as possible, we use a biped model known as the simplest walking model and treat the inter-leg angle at heel-strike as a variable. The equations of stability condition are derived from the eigenvalues of discrete dynamical system. We demonstrate a physical structure which forms the fixed points and a mechanism of its stability.
影响因子：
9.2
作者：
MCGEER, T
通讯作者：
MCGEER, T