Influence of Slope Angle on the Walking of Passive Dynamic Biped Robot

• 作者: Mahesh A. Yeolekar Nita H. Shah
• 来源期刊: 应用数学(英文)
• 学科: 数学
• 关键词: BIPED Robot Limit Cycle WALKING PASSIVE Dynamic WALKING POINCARE Map ORBITAL Stability BIFURCATION
• 年，卷（期）: yysxyw_2015,（3）
• 页码范围: 456-465
• 页数: 10页
• 分类号: O1

摘要

In this paper, we modeled a simple planer passive dynamic biped robot without knee with point feet. This model has a stable, efficient and natural periodic gait which depends on the values of parameters like slope angle of inclined ramp, mass ratio and length ratio. The described model actually is an impulse differential equation. Its corresponding poincare map is discrete case. With the analysis of the bifurcation properties of poincare map, we can effectively understand some feature of impulse model. The ideas and methods to cope with this impulse model are common. But, the process of analysis is rigorous. Numerical simulations are reliable.