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双脚弹质量模型在行走中的触摸下降状态控制

Hamid Vejdani¹, Albert Wu², Hartmut Geyer²

¹Mechanical, Robotics, and Industrial Engineering Department, Lawrence Technological University, Southfield, MI, United States of America.

Bioinspiration & biomimetics

|November 21, 2024

概括

研究人员为双脚弹质量模型制定了稳定控制策略,提高了对动物运动和机器人设计的理解. 这一政策确保了使用国家内部信息来防止干扰的稳定性.

科学领域:

机器人和生物力学
动态系统理论动态系统理论

背景情况:

动物双脚运动是复杂的.
双脚弹质量模型简化并预测运动动态.

研究的目的:

分析双脚弹质量模型的步态.
提出一个稳定着陆触摸控制政策.
概括系统独立性的结果.

主要方法:

无维的运动方程. 无维的运动方程.
分析了平衡步态 (固定点).
执行了触地政策的稳定性分析.

主要成果:

拟议的政策稳定了对称平衡步态.
具有特征的峰值腿部力变化.
在不同地形上模拟机车运动.

结论:

触地政策对各种步态和条件有效.
这些发现有助于我们更好地理解动物的运动.
适用于机器人系统设计和控制.

关键词:

双脚弹质量模型有腿的机车运动机器.被动动动态的动力学自己稳定的自我稳定性.摆动腿部控制摆动腿部控制

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