计算机工程Issue(2)：173-177,5.DOI:10.3969/j.issn.1000-3428.2015.02.033
双足被动步行的全局稳定性分析
Analysis for Global Stability of Passive Bipeds Walking
摘要
Abstract
Based on the classical dynamic model of passive biped walking,the globel stability of passive bipeds walking which is influenced by the environment and mechical parameters is discussed. The calculaion about stable fix points on variable parameter is given. Cell-cell map is used to compute the attractive region of the 1-periodic steady gait of the walking model with variable parameters. It is found that the robustness of passive bipeds is connected closely to the environment and mechanical parameters. Moreover, this paper also proposes the two metrics to evaluate the shape of attractive region:minimum radius and maximum radius. Simulation results also reveal the relationship between the attractive region of passive walking and the parameters like ground slope or mass ratio. Simultaneously,the robusness of passive biped walking gaits is analyized by special attracive cell and the variable tendency with the maximum reach and the mininum reach of the attractive region.关键词
双足被动步行/全局稳定性/胞胞映射/不动点/吸引域/鲁棒性Key words
passive bipeds walking/global stability/cell-cell mapping/fix point/attractive region/robustness分类
信息技术与安全科学引用本文复制引用
胡峻峰,曹军..双足被动步行的全局稳定性分析[J].计算机工程,2015,(2):173-177,5.基金项目
中央高校基本科研业务费专项基金资助项目(DL10AB06) （DL10AB06）
国家林业局“948”基金资助项目(2011-4-04) （2011-4-04）
黑龙江省自然科学基金资助项目(QC2012C101)。 （QC2012C101）
