Stability analysis of a simple walking model driven by a rhythmic signal
Stability analysis of a simple walking model driven by a rhythmic signal
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节律信号驱动的简单行走模型的稳定性分析
DOI：
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发表时间：
2004
期刊：
影响因子：
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通讯作者：
K. Tsuchiya
中科院分区：
文献类型：
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作者：
S. Aoi;K. Tsuchiya
人的行走是通过人体力学系统的动力学和中央模式发生器（CPG）的节奏信号之间的相互作用来实现的。本文分析了由振子节奏信号驱动的两足机器人简单步行模型的动力学特性。该模型由一个臀部和两条腿组成，这两条腿在臀部连接。摆动腿由开环的节奏信号控制。我们使用庞加莱映射分析的周期性步行运动的稳定性。结果表明，简单步行模型具有自稳定性，即简单步行模型的步行运动收敛于周期步行运动。
Human walk is achieved by the interaction between the dynamics of the human mechanical system and the rhythmic signals of the central pattern generator (CPG). In this paper, we analyze dynamic properties of a simple walking model of a biped robot driven by a rhythmic signal of an oscillator. This model consists of a hip and two legs which are connected at the hip. The swing leg is controlled by the rhythmic signal which is open loop. We analyze the stability of the periodic walking motion using a Poincare map. As a result, it is revealed that the simple walking model has the self-stabilization property, that is, the walking motion of the simple walking model converges to a periodic walking motion.