A damped bipedal inverted pendulum for human-structure interaction analysis

被引：24

作者：

Lin, Bintian ^{[1
,2
]}

Zhang, Qingwen ^{[1
,2
]}

Fan, Feng ^{[1
,2
]}

Shen, Shizhao ^{[1
,2
]}

机构：

[1] Harbin Inst Technol, Key Lab Struct Dynam Behav & Control, Minist Educ, Harbin 150090, Peoples R China

[2] Harbin Inst Technol, Key Lab Smart Prevent & Mitigat Civil Engn Disast, Minist Ind & Informat Technol, Harbin 150090, Peoples R China

来源：

APPLIED MATHEMATICAL MODELLING | 2020年 / 87卷

基金：

中国国家自然科学基金;

关键词：

Bipedal inverted pendulum; Human-structure interaction; Leg damping; Energy compensation; VIBRATION SERVICEABILITY; EXCITATION; WALKING; MODEL;

D O I：

10.1016/j.apm.2020.06.027

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The bipedal inverted pendulum with damping has been adopted to simulate human-structure interaction recently. However, the lack of analysis and verification has provided motivation for further investigation. Leg damping and energy compensation strategy are required for the bipedal inverted pendulum to regulate gait patterns on vibrating structures. In this paper, the Hunt-Crossley model is adopted to get zeros contact force at touch down, while energy compensation is achieved by adjusting the stiffness and rest length of the legs. The damped bipedal inverted pendulum can achieve stable periodic gait with a lower energy input and flatter attack angle so that more gaits are available, compared to the template, referred to as spring-load inverted pendulum. The measured and simulated vertical ground reaction force-time histories are in good agreement. In addition, the dynamic load factors are also within a reasonable range. Parametric analysis shows that the damped bipedal inverted pendulum can achieve stable gaits of 1.6 to 2.4 Hz with a reasonable first harmonic dynamic load factor, which covers the normal walking step frequency. The proposed model in this paper can be applied to human-structure interaction analysis. (C) 2020 Elsevier Inc. All rights reserved.

引用

页码：606 / 624

页数：19