An "Interesting" Strange Attractor in the Dynamics of a Hopping Robot
An "Interesting" Strange Attractor in the Dynamics of a Hopping Robot
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跳跃机器人动力学中的“有趣”奇怪吸引子
DOI：
10.1177/027836499101000602
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发表时间：
1991
期刊：
影响因子：
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通讯作者：
T. Caughey
中科院分区：
文献类型：
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作者：
A. Vakakis;J. Burdick;T. Caughey
本文应用离散动力系统理论对一个简化的垂直跳跃机器人模型进行动力学分析，该模型类似于Raibert的跳跃机器。一个庞加莱返回映射的动态行为，并确定了两个基本的无量纲参数，影响系统的动力学。通过构造庞加莱返回映射的分岔图来研究系统的跳跃行为。分岔图显示了一个倍周期级联导致的混沌行为的制度，在“奇怪的吸引子”的发展。动力学的一个有趣的特点是，可以控制和消除奇怪的吸引子，通过调整相应的参数施加跳跃推力的持续时间。物理上，奇异吸引子的坍缩导致全局稳定的周期1轨道，这保证了稳定的匀速跳跃运动。
This article applies discrete dynamical systems theory to the dynamic analysis of a simplified vertical hopping robot model that is analogous to Raibert's hopping machines. A Poincaré return map is developed to capture the dynamic behavior, and two basic nondimensional parameters that influence the systems dynamics are iden tified. The hopping behavior of the system is investigated by constructing the bifurcation diagrams of the Poincaré return map. The bifurcation diagrams show a period-dou bling cascade leading to a regime of chaotic behavior, where a "strange attractor" is developed. An interesting feature of the dynamics is that the strange attractor can be controlled and eliminated by tuning an appropriate parameter corresponding to the duration of applied hop ping thrust. Physically, the collapse of the strange attrac tor leads to a globally stable period-1 orbit, which guar antees a stable uniform hopping motion.
DOI：
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发表时间：
2020
期刊：
影响因子：
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作者：
Hironori Ito;Tetsuo Nakano;Shintaro Nomura and Kazuhiko Misawa;井上紗奈・本田秀仁・森数馬・椎名武夫・山本(前田)万里・曲山幸生・永井成美・和田有史;Guest Martin;Zin Arai
通讯作者：
Zin Arai