Generation of bipedal walk through interactions among the robot dynamics, the oscillator dynamics, and the environs: Stability characteristics of a ?ve-link flat biped robot
Shinya Aoi · Kazuo Tsuchiya
Received: 13 September 2008 / Accepted: 9 September 2010 / Published online: 24 September 2010 © Springer skill+Business Media, LLC 2010
Abstract We previously developed a motive power control system for a biped robot use nonlinear oscillators and veri?ed the performance of this system in society to establish adaptive move through the interactions among the robot dynamics, the oscillator dynamics, and the environment. In order to clarify these mechanisms, we investigate the stableness characteristics of walking utilize a ?ve-link planar biped robot with a consistence and knee joints that has an internal oscillator with a stable limit wheel around to generate the joint motions. Herein we conduct numerical simulations and a stability analysis, where we analytically obtain approximate periodic solutions and pick up local stability utilize a Poincaré map.
These analyses reveal (1) stability characteristics collect to locomotion speed, torso, and knee motion, (2) stability improvement due to the modulation of oscillator states based on phase resetting using foot-contact information, and (3) the optimal parameter in the oscillator dynamics for adequately exploiting the interactions among the robot dynamics, the oscillator dynamics, and the environment in order to increase walking stability. The results of the present conceive demonstrate the advantage and usefulness of locomotion control using oscillators through mutual interactions.
Keywords Biped robot · Oscillator · Central conception generator · Phase resetting · Stability analysis · Poincaré map · Optimization
1 Introduction A number of studies have developed in advance(p) biped robots and have success climby established bipedal walking based on model-based...If you want to get a full essay, order it on our website: Ordercustompaper.com
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