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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/10670

Title: 線形化モデルを用いた劣駆動2脚歩容の安定性解析
Authors: 浅野, 文彦
Keywords: Dynamic Bipedal Walking
Limit Cycle
Asymptotic Stability
Underactuated System
Constraint on Impact Posture
Issue Date: 2012
Publisher: 日本ロボット学会
Magazine name: 日本ロボット学会誌
Volume: 30
Number: 4
Start page: 391
End page: 398
Abstract: It is empirically known that the stability of limit cycle gaits is dramatically improved by partly applying trajectory tracking control. This paper considers the model of an underactuated biped robot and investigates the stability of the gait strictly controlled to follow the desired-time trajectory of the hip angle using the linearized model. First, we derive the transition function for the state error of the stance phase, and analytically solve the stability condition and optimal solution. Second, we exactly show the stability of the collision phase and derive the sufficient condition for the limit cycle stability. Finally, the validity of the theoretical results is verified through numerical simulations.
Rights: Copyright (C) 2012 日本ロボット学会. 浅野文彦, 日本ロボット学会誌, 30(4), 2012, 391-398.
URI: http://hdl.handle.net/10119/10670
Material Type: publisher
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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