Determination of the initial conditions by solving boundary value problem method for period-one walking of a passive biped walking robots

被引：8

作者：

Safartoobi, Masoumeh ^{[1
]}

Dardel, Morteza ^{[1
]}

Ghasemi, Mohammad Hassan ^{[1
]}

Daniali, Hamidreza Mohammadi ^{[1
]}

机构：

[1] Babol Noshirvani Univ Technol, Dept Mech Engn, POB 484,Shariati St, Babol Sar 4714871167, Mazandaran, Iran

来源：

ROBOTICA | 2017年 / 35卷 / 01期

关键词：

Passive dynamic; Bipedal walker; Initial conditions; Period-one gait limit cycle; MODEL;

D O I：

10.1017/S0263574715000077

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

With regard to the small basin of attraction of the passive limit cycles, it is important to start from a proper initial condition for stable walking. The present study investigates the passive dynamic behaviors of two-dimensional bipedal walkers of a compass gait model with different foot shapes. In order to find proper initial conditions for stable and unstable period-one gait limit cycles, a method based on solving the nonlinear equations of motion is presented as a boundary value problem (BVP). An initial guess is required to solve the related BVP that is obtained by solving an initial value problem (IVP). For parametric analysis purposes, a continuation method is applied. Simulation results reveal two, period-one gait cycles and the effects of parameters variation for all models.

引用

页码：166 / 188

页数：23

共 23 条

[1]

Berman G., 2005, EXPLORING PASSIVE DY

[2] Small slope implies low speed for McGeer's passive walking machines [J].