动态建模的干稳定性在运行通过关节-膝盖三对六个弹的弹
Hidaka Asai1,2, Tomoyuki Noda1, Jun Morimoto1,2
1Brain Robot Interface, ATR Computational Neuroscience Labs, Kyoto, Japan.
Bioinspiration & biomimetics
|October 15, 2025
概括
这项研究引入了一种新的跑步动态模型,证明协调的腿部肌肉可以在没有复杂的反的情况下稳定干位置. 这一发现为腿类机器人设计和康复提供了洞察力.
科学领域:
- 生物力学 生物力学
- 机器人技术 机器人技术 机器人技术
- 动态系统 动态系统
背景情况:
- 现有的弹质量机动车型往往忽略了干动力学或需要在线反以保持稳定性.
- 生物和机器人系统表明,肌肉协调,包括双节肌肉,可以通过更简单的控制器实现稳定.
研究的目的:
- 开发一个数学动态模型,验证协调的肌肉动作在运动过程中稳定了干位置.
- 研究单关节和双关节肌肉协调在腿部稳定的作用.
主要方法:
- 提出了一种带着干和六个弹模拟关节膝关节肌肉协调的平面运动模型.
- 使用恒定的着陆角和角来控制步态.
- 使用Floquet乘数器进行自我稳定性的数值分析.
主要成果:
- 动态模型实现了稳定的运行,只使用恒定的触地和角度.
- 数字分析证实了协调弹的各种刚性参数的自我稳定性.
- 证明了通过肌肉协调来稳定干位置的数学证据.
结论:
- 肌肉协调,结合双关节肌肉,可以本质上稳定行驶过程中干角.
- 为设计有腿机器人和评估康复策略提供了基础.
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