An asymptotic solution to a passive biped walker model

8th Workshop on Multi-Rate Processes and Hysteresis;HSFS Workshop (Hysteresis and Slow-Fast Systems)

Yudaev, Sergey A^1 ; Rachinskii, Dmitrii^2 ; Sobolev, Vladimir A^1

Samara National Research University, Russia^1

Department of Mathematical Sciences, The University of Texas at Dallas, United States^2

关键词: Asymptotic solutions;    Mass distribution;    Numerical solution;    Parameter range;    Passive dynamics;    Simple modeling;    Switched system;    Zero-order approximation;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/811/1/012018/pdf
DOI  :  10.1088/1742-6596/811/1/012018

来源: IOP

【 摘 要 】

We consider a simple model of a passive dynamic biped robot walker with point feet and legs without knee. The model is a switched system, which includes an inverted double pendulum. Robot's gait and its stability depend on parameters such as the slope of the ramp, the length of robot's legs, and the mass distribution along the legs. We present an asymptotic solution of the model. The first correction to the zero order approximation is shown to agree with the numerical solution for a limited parameter range.