全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

欠驱动双足步行机器人动力学建模与稳定性分析

Keywords: 欠驱动双足机器人,极限环,混合动态系统

Full-Text   Cite this paper   Add to My Lib

Abstract:

对具有膝关节的欠驱动双足行走机器人的被动行走步态进行了建模与数值仿真,分析了该模型被动行走步态的动态过程及机器人质量分布的优化配置问题,通过大量的仿真,验证了所选参数的合理性.通过建立具有膝关节自由度的被动步态模型,揭示双足行走的动态特性,能对欠驱动双足步行机器人原型机的机械设计提供参考.

References

[1]  MCGEER T.Passive dynamic walking[J].International Journal of Robotics Research,1990,9(2):62-82.
[2]  GOSWAMI A,THUILOT B,ESPIAU B.Astudy of the passive gait of a compass-like biped robot:symmetry and chaos [J].International Journal of Robotics Research,1998,17(12):1282-1301.
[3]  GOSWAMI A,ESPIAU B,KERAMANE A.Limit cycles in a passive compass gait biped and passivity-mimicking control laws[J].Journal of Autonomous Robots,1997,4(3):273-286.
[4]  HISKENS I A.Stability of hybrid system limit cycle:application to the compass gait biped robot[C]//Proceedings of 40th IEEE Conference on Decision and Control,Orlando,FL:Institute of Electrical and Electronics Engineers Inc.2001:774- 779.
[5]  CARCIA M,CHATTERJEE A,RUINA A,et al.The simplest walking model:stability,complexity and scaling[].ASME Journal of Biomechanical Engineering,1998,120(2):281-288.
[6]  COLLINS S H,RUINA A,TEDRAKE R,et al.Efficient bipedal robots based on passive-dynamic walkers[J].Science Magazine,2005,307:1082-1085.
[7]  COLLINS S H,WlSSE M,RUINA A.A 3-d passive-dynamic walking robot with two legs and knees[J].International Journal of Robotics Research,2001,20(7):607-615.
[8]  Chen Hsu.Passive dynamic walking with knees:A Point Foot Model[D].Boston,USA:Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology.2007:21-28.

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133