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
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