Modeling of Passive Dynamic Walking Behavior of the Asymmetric Spatial Rimless Wheel on Slope
Modeling of Passive Dynamic Walking Behavior of the Asymmetric Spatial Rimless Wheel on Slope
复制标题
非对称空间无轮边坡被动动态行走行为建模
DOI：
10.1007/978-3-030-89134-3_44
复制
发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Q. Zhan
中科院分区：
文献类型：
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作者：
JiaCheng Yu;Wenchuan Jia;Yi Sun;Shugen Ma;Jianjun Yuan;Q. Zhan
无框轮机构是研究被动动态步行的重要基础模型，为实现稳定高效的拟人步态提供了直接参考。然而，简化的模型参数，如运动尺寸削弱了这种参考。本文主要研究非对称空间无轮缘车轮在空间斜坡上的运动特性。针对ASRW在周期运动过程中的不同运动阶段，在笛卡尔空间建立了其动力学模型。利用Poincare映射方法数值求解步长函数的不动点。本文所得到的动力学模型能更真实地反映无框车轮与人体运动行为和步态特征的相似性。通过仿真验证了建模和计算的正确性。此外，极限分析还表明，ASRW提供了一个桥梁，连接步行模型和滚动运动模型。
The rimless wheel mechanism is an important basic model for studying passive dynamic walking, which provides a direct reference for the realization of a stable and efficient anthropomorphic gait. However, the simplification of model parameters such as motion dimensions has weakened this reference. This paper specifically studies the motion behavior of an Asymmetric Spatial Rimless Wheel (ASRW) on a spatial slope. For different motion phases of the ASRW in the periodic motion process, the dynamic model is established in Cartesian space. And the Poincare map method is used to numerically solve the fixed points of the stride function. The dynamic model obtained in this paper can more realistically reflect the similarity of motion behavior and gait characteristics between the rimless wheel and the human body. The correctness of modeling and calculation is verified by simulation. Moreover, the limit analysis also shows that the ASRW provides a bridge connecting the biped walking model and the rolling motion model.