Abstract
SUMMARYMany studies on control of dynamic biped walking have been done in the past two decades. While the biped dynamics is highly nonlinear, the stability analysis, if done, is usually based on a linearized model. The validity of the linearized model may become questionable if the walking involves states that are too far away from the operating point. In this paper, an approach for evaluating the robustness based on the linearized Poincare map is suggested and examined. The Poincare map is a useful tool to investigate the periodic motion of a dynamic system. Using the Poincare“ map, one can study an associated discrete time map instead of studying the continuous time system directly. Investigation of stability of a periodic motion can be reduced to the study of the stability of a fixed point of the Poincaré map. The computational method that results in a measurement for evaluating the robustness of biped locomotion is developed. Our simulation study has verified that the suggested measurement is a good indicator.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
15 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献