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力学与实践 ›› 2008, Vol. 30 ›› Issue (1): 18-22.doi: 10.6052/1000-0992-2007-189

• 应用研究 • 上一篇    下一篇

简单被动行走模型仿真及不动点的吸引盆计算

柳宁 李俊峰 王天舒   

  1. 清华大学航天航空学院 清华大学工程力学系 100084 清华大学航天航空学院
  • 收稿日期:2007-04-26 修回日期:2007-10-09 出版日期:2008-02-08 发布日期:2008-02-08

SIMULATION OF A SIMPLE PASSIVE DYNAMIC WALKING MODEL AND THE BASIN

LIU Ning Tianshu WANG   

  • Received:2007-04-26 Revised:2007-10-09 Online:2008-02-08 Published:2008-02-08

摘要: 简单回顾了被动行走的发展,建立了无量纲形式的平面直腿圆弧足被动行走动力学 模型,详细介绍了被动行走模型仿真的步骤. 并且采用胞胞映射计算得到该圆弧足模型的吸 引盆,发现该模型的吸引盆大于以前研究者研究的点状足模型的吸引盆. 这表明在初始状态 变量偏离不动点很大时,模型仿真仍可收敛到稳定的步态,即该模型具有较高的鲁棒性.

Abstract: The development of studies on passive dynamic walking is reviewed briefly. The nondimensional equations of a planar straight leg passive dynamic biped model with round feet are derived and a simulation is carried out. The basin of attraction of the model obtained by the cell mapping method is larger than that of point feet models, proposed by other researchers. These results indicate that the model can walk stably from an initial state far from the fixed point.