Characterization of monoped equilibrium gaits
Characterization of monoped equilibrium gaits
复制标题
单足平衡步态的表征
DOI：
10.1109/robot.1997.619161
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发表时间：
1997
期刊：
影响因子：
--
通讯作者：
D. Koditschek
中科院分区：
文献类型：
--
作者：
W. J. Schwind;D. Koditschek
我们借助于近似闭合形式的表达式，根据显性参数来描述单调小膝的平衡步态。我们首先在站立时消除重力，并选择在膝盖储存潜在能量的非常特殊的模型。接下来，在中值定理的启发下，我们将简单的闭合形式近似引入到更一般情况下的椭圆积分中。在这样做的过程中，我们得到了一个猜想的推广，适用于具有任意膝势的小膝部单体。最后，我们引入了一种新的闭合形式的摄动，旨在调整近似坐标变换以适应重力的存在。模拟数据被提供作为所提出的膝关节电位和所提出的站立期间重力扰动的有效性的证据(精度在大约5%-10%以内)。
We characterize equilibrium gaits of a small knee monoped in terms of manifest parameters by recourse to approximate closed form expressions. We first eliminate gravity during stance and choose a very special model of potential energy storage in the knee. Next, we introduce simple closed form approximations, motivated by the mean value theorem, to the elliptic integrals arising in the more general case. In so doing, we derive a conjectured generalization applicable to small knee monopeds with an arbitrary knee potential. Finally, we introduce a new closed form perturbation intended to adjust the approximate coordinate transformations to the presence of gravity. Simulation data is offered as evidence for the efficacy (to within roughly 5-10% accuracy) of both the proposed generalization across knee potentials and the proposed perturbation for the presence of gravity during stance.
影响因子：
2.4
作者：
BLICKHAN, R
通讯作者：
BLICKHAN, R
DOI：
--
发表时间：
1993-12
期刊：
The Journal of experimental biology
影响因子：
--
作者：
C. T. Farley;James W. Glasheen;Thomas A Mcmahon
通讯作者：
C. T. Farley;James W. Glasheen;Thomas A Mcmahon