Auton Robot (2011) 30: 123141 DOI 10.1007/s10514-010-9209-9 Generation of bipedalal passing play by means of interactions among the golem dynamics, the oscillator dynamics, and the environs: Stability characteristics of a ?ve-link prone biped robot Shinya Aoi Â· Kazuo Tsuchiya Received: 13 September 2008 / sure: 9 September 2010 / Published online: 24 September 2010 Â© springing cow skill+Business Media, LLC 2010 Abstract We previously developed a motive power control schema for a biped robot use nonlinear oscillators and veri?ed the performance of this system in society to establish adaptive move through the interactions among the robot dynamics, the oscillator dynamics, and the environment. In prepare to clarify these mechanisms, we investigate the fixedness characteristics of walking utilize a ?ve-link planar biped robot with a consistence and knee joints that has an internal oscillator with a stable limit wheel around to generate the joint motions. he rein we conduct numerical simulations and a stableness analysis, where we analytically hold up approximate periodic solutions and pick up local stability utilize a PoincarÃ© map.
These analyses reveal (1) stability characteristics collect to locomotion speed, torso, and knee motion, (2) stability improvement due to the modulation of oscillator states ground on phase resetting using foot-contact information, and (3) the optimal parameter in the oscillator dynamics for adequately exploiting the interactions among the robot dynamics, the oscillator dynamics, and the environment in run to increase walking stabilit y. The results of the present conceive demo! nstrate the returns and usefulness of locomotion control using oscillators through correlative interactions. Keywords Biped robot Â· Oscillator Â· Central conception generator Â· bod resetting Â· Stability analysis Â· PoincarÃ© map Â· Optimization 1 incoming A number of studies have developed in advance(p) biped robots and have success climby established bipedal walking establish on model-based...If you want to get a full essay, order it on our website: OrderCustomPaper.com
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