Affiliation:
1. School of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin 541004, People’s Republic of China
2. School of Mathematics and Computing Science, Guilin University of Electronic Technology, Guilin 541004, People’s Republic of China
Abstract
In this article, a biped robot walking on horizontal ground with two feasible switching patterns of motion (two-phase gait and three-phase gait) is presented. By using the first-order Taylor approximate at the equilibrium point, a simplified linear continuous dynamic equation is obtained to discuss the walking dynamics of the biped robot. Conditions for the existence and stability of period-1 gaits
(
P
(
1
,
2
)
,
P
(
1
,
3
)
)
and period-2 gaits
(
P
(
2
,
2
,
2
)
,
P
(
2
,
2
,
3
)
,
P
(
2
,
3
,
3
)
)
are obtained by using a discrete map. Among the periodic gaits, the
P
(
2
,
2
,
3
)
type gait has never been reported in previous studies. Flip bifurcation of periodic gait is investigated. Numerical results for periodic gaits and bifurcation diagram are in good agreement with the theoretical analysis.
Funder
National Natural Science Foundation of China
Natural Science Foundation of Guangxi Province
Subject
General Physics and Astronomy,General Engineering,General Mathematics
Reference32 articles.
1. Passive Dynamic Walking
2. Models, feedback control, and open problems of 3D bipedal robotic walking
3. All common bipedal gaits emerge from a single passive model;Gan ZY;J. R. Soc. Iterface,2018
4. Zhou YL Zhang QZ. 2017 Walking control of a semi-passive biped robot based on repetitive control algorithm. In 2017 Proc. of the 36th Chinese Control Conf. Dalian China 26–28 July 2017 pp. 26–28. New York NY: IEEE.
5. Montano O, Orlov Y, Aoustin Y, Chevallereau C. 2017 H∞-stabilization of a 3D bipedal locomotion under a unilateral constraint. New Perspectives and Applications of Modern Control Theory, vol. 15 (eds J Klempner, W Yu), pp. 371-396. Cham, Switzerland: Springer.
Cited by
2 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