简单被动行走模型仿真及不动点的吸引盆计算  

SIMULATION OF A SIMPLE PASSIVE DYNAMIC WALKING MODEL AND THE BASIN OF ATTRACTION OF ITS FIXED POINT

作　　者：柳宁[1] 李俊峰[1] 王天舒[1] 

机构地区：[1]清华大学航天航空学院,北京100084

出　　处：《力学与实践》2008年第1期18-22,共5页Mechanics in Engineering

摘　　要：简单回顾了被动行走的发展,建立了无量纲形式的平面直腿圆弧足被动行走动力学模型,详细介绍了被动行走模型仿真的步骤.并且采用胞胞映射计算得到该圆弧足模型的吸引盆,发现该模型的吸引盆大于以前研究者研究的点状足模型的吸引盆.这表明在初始状态变量偏离不动点很大时,模型仿真仍可收敛到稳定的步态,即该模型具有较高的鲁棒性.The development of studies on passive dynamic walking is reviewed briefly. The nondimensional equations of a planar straight leg passive dynamic biped model with round feet are derived and a simulation is carried out. The basin of attraction of the model obtained by the cell mapping method is larger than that of point feet models, proposed by other researchers. These results indicate that the model can walk stably from an initial state far from the fixed point.

关 键 词：被动行走 吸引盆 不动点 胞胞映射 双足步行 周期 

分 类 号：O175.7[理学—数学] TP271.3[理学—基础数学]