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Compass-like无动力双足行走机器人的运动状态 被引量：4

Analysis of compass-like passive biped robot locomotion
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摘要 以一个简单的双自由度compass-like无动力双足行走机器人为研究对象,对其行走的动态过程进行了深入分析。建立了行走动态的数学模型,并进行了数值仿真,对其行走过程每个阶段的特征进行了论述。分析了机器人行走过程中动能、势能的分布、变化过程以及相互转化关系。机器人稳定行走周期步态在相平面内表现为极限环,讨论了其存在的条件。 Focus on the study of a simple compass-like planar biped robot, the dynamics of the biped locomotion was analyzed. A mathematical model of this biped robot was presented with numerical simulations. The dynamics and its characteristics in every stage of the biped locomotion cycle were discussed, such as kinetic energy and potential energy distribution and evolvement of the robot. It seems that dynamics of symmetric gait of the robot appeared to be a limit cycle in the phase space. Furthermore, the condition for the existence of stable limit cycle was discussed.
作者 刘振泽 周长久 田彦涛
机构地区 吉林大学通信工程学院
出处 《吉林大学学报（工学版）》 EI CAS CSCD 北大核心 2007年第5期1175-1180,共6页 Journal of Jilin University:Engineering and Technology Edition
基金 '863'国家高技术研究发展计划项目(2006AA04Z251)
关键词 自动控制技术 无动力双足行走机器人 极限环 吸引域 混合系统 automatic control technology passive compass-like biped robot limit cycle basin of attraction hybrid dynamic system
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献13

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二级参考文献68

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共引文献23

同被引文献23

  • 1谭传恩.MATLAB与VC混合编程[J].电脑开发与应用,2005,18(4):58-58. 被引量：1
  • 2毛勇,王家廞,贾培发,韩灼.双足被动步行研究综述[J].机器人,2007,29(3):274-280. 被引量：24
  • 3甘志刚,肖南峰.仿人机器人三维实时仿真系统的研究与实现[J].系统仿真学报,2007,19(11):2444-2448. 被引量：25
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引证文献4

二级引证文献2

吉林大学学报（工学版）
2007年 第5期

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