Input torque is the main power to maintain bipedal walking of robot, and can be calculated from trajectory planning and dynamic modeling on biped robot. During bipedal walking, the input torque is usually required to ...Input torque is the main power to maintain bipedal walking of robot, and can be calculated from trajectory planning and dynamic modeling on biped robot. During bipedal walking, the input torque is usually required to be adjusted due to some uncertain parameters arising from objective or subjective factors in the dynamical model to maintain the pre-planned stable trajectory. Here, a planar 5-link biped robot is used as an illustrating example to investigate the effects of uncertain parameters on the input torques. Kine-matic equations of the biped robot are firstly established by the third-order spline curves based on the trajectory planning method, and the dynamic modeling is accomplished by taking both the certain and uncertain parameters into account. Next, several evaluation indices on input torques are intro-duced to perform sensitivity analysis of the input torque with respect to the uncertain parameters. Finally, based on the Monte Carlo simulation, the values of evaluation indices on input torques are presented, from which all the robot param-eters are classified into three categories, i.e., strongly sensi-tive, sensitive and almost insensitive parameters.展开更多
The theoretical method estimating ski-jump trajectory was paid attention to and modified. The present method is based on the effects of the take-off velocity and the angle in the sensitivity analysis of parameters. Th...The theoretical method estimating ski-jump trajectory was paid attention to and modified. The present method is based on the effects of the take-off velocity and the angle in the sensitivity analysis of parameters. The experiments are conducted for a triangular-shaped flip bucket in order to reveal the relationships between the take-off velocity and its influencing factors. The results show that, the take-off velocity has a much larger effect on the impact point than the take-off angle. The take-off velocities of both upper and lower trajectories are all functions of the approach flow Froude number, the deflector height and the deflection angle, especially, the results of the deflection angle of 25° could be directly used when this angle is larger than 25° Meanwhile, this method is checked and the maximum relative errors of both U calx and L_（calx） are 5.1% and 5.6%, respectively.展开更多
基金supported by the National Natural Science Foundation of China (11142013, 11172260 and 11072214)the Doctoral Fund of Ministry of Education of China (20110101110016)the Fundamental Research Funds for the Central Universities of China(2011QNA4001)
文摘Input torque is the main power to maintain bipedal walking of robot, and can be calculated from trajectory planning and dynamic modeling on biped robot. During bipedal walking, the input torque is usually required to be adjusted due to some uncertain parameters arising from objective or subjective factors in the dynamical model to maintain the pre-planned stable trajectory. Here, a planar 5-link biped robot is used as an illustrating example to investigate the effects of uncertain parameters on the input torques. Kine-matic equations of the biped robot are firstly established by the third-order spline curves based on the trajectory planning method, and the dynamic modeling is accomplished by taking both the certain and uncertain parameters into account. Next, several evaluation indices on input torques are intro-duced to perform sensitivity analysis of the input torque with respect to the uncertain parameters. Finally, based on the Monte Carlo simulation, the values of evaluation indices on input torques are presented, from which all the robot param-eters are classified into three categories, i.e., strongly sensi-tive, sensitive and almost insensitive parameters.
基金supported by the National Natural Science Foun-dation of China(Grant Nos.51509128,51179056)the PAPD(Grant No.3014-SYS1401)
文摘The theoretical method estimating ski-jump trajectory was paid attention to and modified. The present method is based on the effects of the take-off velocity and the angle in the sensitivity analysis of parameters. The experiments are conducted for a triangular-shaped flip bucket in order to reveal the relationships between the take-off velocity and its influencing factors. The results show that, the take-off velocity has a much larger effect on the impact point than the take-off angle. The take-off velocities of both upper and lower trajectories are all functions of the approach flow Froude number, the deflector height and the deflection angle, especially, the results of the deflection angle of 25° could be directly used when this angle is larger than 25° Meanwhile, this method is checked and the maximum relative errors of both U calx and L_（calx） are 5.1% and 5.6%, respectively.
