LIE SYMMETRIES AND CONSERVED QUANTITY OF A BIPED ROBOT

• 来源期刊: 固体力学学报(英文版)
• 学科: 工学
• 年，卷（期）: 2004,（2）
• 页码范围: 183-188
• 页数: 6页
• 分类号: TP242
• 语种: 中文

摘要

For a better understanding of the dynamic principles governing biped locomotion, the Lie symmetries and conservation laws of a biped robot are studied. In Lie theory, Lie sym- metries and conservation laws can be derived from the form invariance of di?erential equations undergoing in?nitesimal transformation. By introducing in?nitesimal transformations including time and spatial coordinates, the determining equations of a biped robot are established. Then the necessary and su?cient conditions for a biped robot to have conserved quantities are obtained. For the lateral-plane dynamical model of a biped robot, a Lie conserved quantity is found.