|
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/10119/15455
|
| タイトル: | Stability analysis of underactuated compass gait based on linearization of motion |
| 著者: | Asano, Fumihiko |
| キーワード: | Limit cycle walking
Stability
Convergence rate
Compass gait |
| 発行日: | 2014-04-02 |
| 出版者: | Springer |
| 誌名: | Multibody System Dynamics |
| 巻: | 33 |
| 号: | 1 |
| 開始ページ: | 93 |
| 終了ページ: | 111 |
| DOI: | 10.1007/s11044-014-9416-9 |
| 抄録: | This paper investigates the stability principle underlying an underactuated compass gait generated by strict output following control of the hip-joint angle. First, we introduce a planar underactuated compass-like biped robot with semicircular feet and develop its mathematical model. We then linearize the equation of motion and design an output following control for the relative hip-joint angle of the linearized model. Second, we analytically derive the transition function of the state error for the stance phase based on the state space representation and discuss its physical meaning. We also mathematically show that the collision phase is always stable. Finally, the validity of the theoretical results is verified through numerical simulations. |
| Rights: | This is the author-created version of Springer, Fumihiko Asano, Multibody System Dynamics, 33(1), 2014, 93-111. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s11044-014-9416-9 |
| URI: | http://hdl.handle.net/10119/15455 |
| 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 |
|---|
| 2901.pdf | | 425Kb | 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。
|
