{"title":"最简单被动动态两足机器人切换面优化","authors":"A. Safa, M. Naraghi, A. Alasty","doi":"10.1109/ICAR.2015.7251481","DOIUrl":null,"url":null,"abstract":"Recently, it has been proved that a different switching surface can preserve the walking trajectory while varying the walking stability [1], [2]. In this paper, by employing the simplest passive dynamic biped, we optimize the switching surface to maximize the robot's stability. Here, the stability measure is preferably the size of the basin of attraction, i.e. the collection of all possible initial conditions leading to the system's equilibrium point. Numerical investigations indicate that the maximum stability is obtained for neither the highest nor the lowest walking speed.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Optimization of the switching surface for the simplest passive dynamic biped\",\"authors\":\"A. Safa, M. Naraghi, A. Alasty\",\"doi\":\"10.1109/ICAR.2015.7251481\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Recently, it has been proved that a different switching surface can preserve the walking trajectory while varying the walking stability [1], [2]. In this paper, by employing the simplest passive dynamic biped, we optimize the switching surface to maximize the robot's stability. Here, the stability measure is preferably the size of the basin of attraction, i.e. the collection of all possible initial conditions leading to the system's equilibrium point. Numerical investigations indicate that the maximum stability is obtained for neither the highest nor the lowest walking speed.\",\"PeriodicalId\":432004,\"journal\":{\"name\":\"2015 International Conference on Advanced Robotics (ICAR)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-07-27\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 International Conference on Advanced Robotics (ICAR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAR.2015.7251481\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 International Conference on Advanced Robotics (ICAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.2015.7251481","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Optimization of the switching surface for the simplest passive dynamic biped
Recently, it has been proved that a different switching surface can preserve the walking trajectory while varying the walking stability [1], [2]. In this paper, by employing the simplest passive dynamic biped, we optimize the switching surface to maximize the robot's stability. Here, the stability measure is preferably the size of the basin of attraction, i.e. the collection of all possible initial conditions leading to the system's equilibrium point. Numerical investigations indicate that the maximum stability is obtained for neither the highest nor the lowest walking speed.