基于庞加莱图内部结构的被动动态行走稳定性分析

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI:10.1109/ICAR.2005.1507418

Y. Sugimoto, K. Osuka

{"title":"基于庞加莱图内部结构的被动动态行走稳定性分析","authors":"Y. Sugimoto, K. Osuka","doi":"10.1109/ICAR.2005.1507418","DOIUrl":null,"url":null,"abstract":"The purpose of this paper is to analyze the stability of passive dynamic walking using an approximate analytical Poincare map of the impact point, which is the state of walking robot at the collision between a swing leg and ground. Especially, in this paper, we focus on the feedback structure in equations which are used to get the Poincare map, and consider the relationship between stability of passive-dynamic-walking and the feedback structure. In this process, we derive a control method of quasi passive-dynamic-walking which utilizes the inner structure of Poincare map and confirm the effectiveness of the control method via several simulations","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"32 2 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"27","resultStr":"{\"title\":\"Stability analysis of passive-dynamic-walking focusing on the inner structure of Poincare map\",\"authors\":\"Y. Sugimoto, K. Osuka\",\"doi\":\"10.1109/ICAR.2005.1507418\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The purpose of this paper is to analyze the stability of passive dynamic walking using an approximate analytical Poincare map of the impact point, which is the state of walking robot at the collision between a swing leg and ground. Especially, in this paper, we focus on the feedback structure in equations which are used to get the Poincare map, and consider the relationship between stability of passive-dynamic-walking and the feedback structure. In this process, we derive a control method of quasi passive-dynamic-walking which utilizes the inner structure of Poincare map and confirm the effectiveness of the control method via several simulations\",\"PeriodicalId\":428475,\"journal\":{\"name\":\"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.\",\"volume\":\"32 2 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2005-07-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"27\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAR.2005.1507418\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.2005.1507418","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 27

摘要

本文的目的是利用碰撞点的近似解析庞加莱图来分析被动动态步行的稳定性，碰撞点是步行机器人在摆动腿与地面碰撞时的状态。本文重点研究了庞加莱映射方程中的反馈结构，并考虑了反馈结构与被动动态行走稳定性之间的关系。在此过程中，我们推导了一种利用庞加莱图内部结构的准被动动态行走控制方法，并通过多次仿真验证了该控制方法的有效性

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Stability analysis of passive-dynamic-walking focusing on the inner structure of Poincare map

The purpose of this paper is to analyze the stability of passive dynamic walking using an approximate analytical Poincare map of the impact point, which is the state of walking robot at the collision between a swing leg and ground. Especially, in this paper, we focus on the feedback structure in equations which are used to get the Poincare map, and consider the relationship between stability of passive-dynamic-walking and the feedback structure. In this process, we derive a control method of quasi passive-dynamic-walking which utilizes the inner structure of Poincare map and confirm the effectiveness of the control method via several simulations

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.

自引率

0.00%

发文量