二足步行机动态步行的相图综合法

A phase diagram comprehensive method on dynamic bipod locomotion

本文基于二足步行运动是充分地巧妙地利用重力及惯性力的过程这一基本思想,提出了一种新的基于相图理论的综合方法。采用这种方法,实现了在线性反馈意义下的对于能量与输入力矩指标最优的运动综合。

In the paper,based on the fact that bipedal locomotion process is one which utilizes the gravity and inertial force skillfully,a new method based on the phase portrait plane theory is proposed.With this method,the reali- zation of the optimality based on the linear feedback control comes to being.