Quadrupedal bounding with spring-damper body joint
Quadrupedal bounding with spring-damper body joint
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DOI：
10.1109/iros.2013.6696685
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发表时间：
2013-11
期刊：
影响因子：
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通讯作者：
Ryutaro Yamasaki;Yuichi Ambe;S. Aoi;F. Matsuno
中科院分区：
文献类型：
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作者：
Ryutaro Yamasaki;Yuichi Ambe;S. Aoi;F. Matsuno
稳定运动是指在动力系统中产生一个稳定的极限环。虽然对四足束缚步态模型进行了研究，但目前还没有研究表明极限环的产生及其动力学特性。本文分析了一种具有前后体并在前后体之间有弹簧-阻尼关节的四足下坡束缚步态模型。发现周期约束步态具有稳定的极限环和对扰动的收敛性。
Stable locomotion indicates a stable limit cycle generated in the dynamic system. Although quadrupedal bound gait models have been investigated, there is no research which shows the generation of limit cycle and its dynamic properties. In the present study, we analyze a quadrupedal bound gait model which goes down slope and has back and front bodies with spring-damper joint between the bodies. We found the periodic bound gait which achieves a stable limit cycle and convergence property against perturbations.