A Study on Stability of Limit Cycle Walking Model with Feet: Parameter Study

International Journal of Advanced Robotic Systems

关键词: Biped Robot;    Limit Cycle Walking;    Passive Dynamic Walking;    Orbital Stability;    Bifurcation;   

DOI  :  10.5772/55162

学科分类：自动化工程

来源: InTech

【 摘 要 】

In this paper, two kinds of feet, namely, curved and flat feet, are added to limit cycle walking model to investigate its stability properties. Although both models are already proposed and are investigated, most previous works are focused on efficiency and gait behaviors. Only the stability properties of the simplest walking model conceived Garcia et al. are well defined. Therefore, there is still a need for a precise research on the effect of feet, especially in the view of local stability, bifurcation route to chaos, global stability, falling boundary and energy balance line. Therefore, this article revisits the stability analysis of limit cycle walking model with various foot shape. To analyze the effects of feet, we re-derive the equation of motion of modified models by adding one more parameter of foot shape than the simplest walking model. Also, the falling boundary and energy balance line of modified models are derived to get proper initial conditions for stable walking and to explain global stabi...

【 授权许可】

CC BY