|
JAIST Repository >
b. 情報科学研究科・情報科学系 >
b10. 学術雑誌論文等 >
b10-1. 雑誌掲載論文 >
このアイテムの引用には次の識別子を使用してください:
http://hdl.handle.net/10119/15454
|
| タイトル: | Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture |
| 著者: | Asano, Fumihiko |
| キーワード: | Limit cycle walking
Stability
Analytical solution
Linearization
Quadratic approximation |
| 発行日: | 2015-01-15 |
| 出版者: | Springer |
| 誌名: | Multibody System Dynamics |
| 巻: | 35 |
| 号: | 2 |
| 開始ページ: | 191 |
| 終了ページ: | 213 |
| DOI: | 10.1007/s11044-014-9445-4 |
| 抄録: | This paper proposes a fully analytical solution to the discrete behavior of hybrid zero dynamics (HZD) in limit cycle walking with constraint on impact posture. First, we introduce a passive rimless wheel and explain the stability principle through derivations of the analytical transition functions of the state error for the stance and collision phases. Second, we consider an active rimless wheel driven by a steady control input for investigating the stability of semi-passive dynamic walking, and propose a method for analytically deriving the transition function for the stance phase without including unknown parameters. We then numerically investigate the solution accuracy and discuss how the discrete behavior of the HZD changes according to the control parameters. Furthermore, we extend the analysis to level walking of an underactuated rimless wheel with a torso and show that the discrete behavior of the HZD can be determined in the same manner. |
| Rights: | This is the author-created version of Springer, Fumihiko Asano, Multibody System Dynamics, 35(2), 2015, 191-213. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s11044-014-9445-4 |
| URI: | http://hdl.handle.net/10119/15454 |
| 資料タイプ: | author |
| 出現コレクション: | b10-1. 雑誌掲載論文 (Journal Articles)
|
このアイテムのファイル:
| ファイル |
記述 |
サイズ | 形式 |
|---|
| 2899.pdf | | 427Kb | Adobe PDF | 見る/開く |
|
当システムに保管されているアイテムはすべて著作権により保護されています。
|
