期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

简单被动行走模型仿真及不动点的吸引盆计算 被引量：5

SIMULATION OF A SIMPLE PASSIVE DYNAMIC WALKING MODEL AND THE BASIN OF ATTRACTION OF ITS FIXED POINT
下载PDF
导出
摘要 简单回顾了被动行走的发展,建立了无量纲形式的平面直腿圆弧足被动行走动力学模型,详细介绍了被动行走模型仿真的步骤.并且采用胞胞映射计算得到该圆弧足模型的吸引盆,发现该模型的吸引盆大于以前研究者研究的点状足模型的吸引盆.这表明在初始状态变量偏离不动点很大时,模型仿真仍可收敛到稳定的步态,即该模型具有较高的鲁棒性. The development of studies on passive dynamic walking is reviewed briefly. The nondimensional equations of a planar straight leg passive dynamic biped model with round feet are derived and a simulation is carried out. The basin of attraction of the model obtained by the cell mapping method is larger than that of point feet models, proposed by other researchers. These results indicate that the model can walk stably from an initial state far from the fixed point.
作者 柳宁 李俊峰 王天舒
机构地区 清华大学航天航空学院
出处 《力学与实践》 CSCD 北大核心 2008年第1期18-22,共5页 Mechanics in Engineering
关键词 被动行走 吸引盆 不动点 胞胞映射 双足步行 周期 passive walking, basin of attraction, fixed point, cell to cell mapping, biped walking, period
分类号 O175.7 [理学—基础数学] TP271.3 [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10

  • 1Wisse M. Essentials of dynamic walking-Analysis and design of two-legged robots. [PhD Thesis]. Delft University, 2004
  • 2McGeer T. Passive dynamic walking. International Journal of Robotics Research, 1990, 9(2): 62-82
  • 3Collins S, et al. Efficient bipedal robots based on passive-dynamic walker. Science, 2005, 307:1082-1085
  • 4Collins S, Wisse M, Ruina A, A three-dimensional passive-dynamic walking robot with two legs and knees. International Journal of Robotics Research, 2001, 20:607-615
  • 5Garcia M, Chatterjee A, Ruina A. Efficiency, speed, and scaling of two-dimensional passive-dynamic walking. Dynamical Systems, 2000, 15:75-99
  • 6Goswami A, Thuilot B, Espiau B. A study of the passive gait of a compass-like biped robot: symmetry and chaos. International Journal of Robotics Research, 1998, 17:1282-1301
  • 7Garcia M.-Stability, Scaling, and Chaos in Passive-Dynamic Gait Models. [PhD thesis]. Cornell University, 1999
  • 8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
  • 9Hsu CS. Cell-to-cell Mapping: A Method of Global Analysis for Nonlinear System. New York: Springer-Verlag, c1987
  • 10Schwab A, Wisse M. Basin of attraction of the simplest walking model. Proceedings of International Conference on Noise and Vibration. ASME, 2001

二级参考文献30

  • 1Huang Q, Yokoi K, Kajita S, et al. Planning walking patterns for a biped robot[J]. IEEE Transactions on Robotics and Automation, 2001, 17(3) : 280 -289.
  • 2伍科布拉托维奇．步行机器人和动力型假肢[M]．北京：科学出版社，1988．
  • 3Ishida T. Development of a small biped entertainment robot QRIO [A]. Proceedings of the 2004 International Symposium on MicroNanoMechatronics and Human Science [ C ]. New York, NY, USA: IEEE, 2004. 23 - 28.
  • 4Sakagami Y, Watanabe R, Aoyama C, et al. The intelligent ASIMO: system overview and integration[A]. Proceedings of the IEEE International Conference on Intelligent Robots and Systems [ C ]. Piscataway, NJ, USA: IEEE, 2002. 2478 -2483.
  • 5Hirai K, Hirose M, Haikawa Y, et al. Development of Honda humanoid robot [ A ]. Proceedings of the IEEE International Conference on Robotics and Automation [C]. Piscataway, NJ, USA: IEEE, 1998. 1321 - 1326.
  • 6McGeer T. Passive dynamic walking[J]. The International Journal of Robotics Research, 1990, 9(2) : 62 -82.
  • 7Collins S, Ruina A, Tedrake R, et al. Efficient bipedal robots based on passive-dynamic walkers [ J ]. Science, 2005, 307 (5712) : 1082 - 1085.
  • 8Wisse M, Schwab A L, Linde R Q v. A 3 D passive dynamic biped with yaw and roll compensation [ J ]. Robotica, 2001, 19 (3) : 275 - 284.
  • 9McGeer T. Passive walking with knees [ A ]. Proceedings of the IEEE Conference on Robotics and Automation [ C ]. Piscataway, NJ, USA: IEEE, 1990. 1640- 1645.
  • 10McGeer T. Passive bipedal running[J]. Proceedings of the Royal Society of London Series B, Biological Sciences, 1990, 240 (1297) : 107 - 134.

共引文献23

同被引文献34

  • 1钱竞光,宋雅伟,叶强,李勇强,唐潇.步行动作的生物力学原理及其步态分析[J].南京体育学院学报（自然科学版）,2006,5(4):1-7. 被引量：97
  • 2McGeer T. Passive dynamic walking [ J ]. INT J Robot RES, 1990, 9(2): 62-82.
  • 3McGeer T. Dynamics and control of bipedal locomotion [J]. Theoretical Biology, 1993, 163(3) : 277 -314.
  • 4Coleman M, Ruina A. An uncontrolled toy that can walk but cannot stand still[J]. Phys Rev Lea, 1998, 80(16) : 3658 -3661.
  • 5Collins S, Ruina A, Tedrake R, et al. Efficient bipedal robots based on passive-dynamic walkers [ J ]. Science, 2005, 307(5712) : 1082 - 1085.
  • 6Tedrake R, Zhang T W, Fong M, et al. Actuating a simple 3D passive dynamic walker[ C]//The 2004 In- ternational Conference Robotics and Automation (ICRA). Sendai, Japan, 2004:4656-4661.
  • 7Luo Xiang, Zhang Jianzhong. Sensor-based biped walk- ing : a sagittal plane [C ]//Mechatronics and Machine Vision in Practice. Auckland, New Zealand, 2008:555 - 560.
  • 8Kato I, Tsuiki H. The hydraulically powered biped walking machine with a high carrying capacity[C]. Proc of the Int Symposium on External Control of Human Extremities. Dubrovnik: Yugoslavia, 1972: 410-421.
  • 9McGeer T. Passive dynamic walking[J]. The Int J of Robotics Research, 1990, 9(2): 62-82.
  • 10Garcia M, Chatterjee A, Ruina A. Efficiency speed and scaling of .two-dimensional passive-dynamic walking[J]. Dynamics and Stability of Systems, 2000, 15(2): 75-99.

引证文献5

二级引证文献12

力学与实践
2008年 第1期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部