Analysis of Local Stability for Passive Walking Robot based on Spatial Operator Algebra Theory
In order to achieve stable control, the Poincare-mapping function is built by using spatial operator algebra (SOA) and the swing phase and impact phase dynamics equation of the passive walking robot are deduced. At last, the numerical analysis method is used to solve the stable fixed point of the ma...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-08-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.08.022 |
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| _version_ | 1841547129637568512 |
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| author | Fei Lou Wei Shen Jing Guan Guolin Ni |
| author_facet | Fei Lou Wei Shen Jing Guan Guolin Ni |
| author_sort | Fei Lou |
| collection | DOAJ |
| description | In order to achieve stable control, the Poincare-mapping function is built by using spatial operator algebra (SOA) and the swing phase and impact phase dynamics equation of the passive walking robot are deduced. At last, the numerical analysis method is used to solve the stable fixed point of the mapping function, and the local stability of the model is analyzed. The result shows that, by using the theory of SOA, the Poincare-mapping function can be established effectively and fast, and avoids the complicated calculation of solving partial derivative in the modeling process by Lagrangian mechanics. At the same time, the analysis of local stability shows that passive walking robot must has stable fixed point for cycle stable walking, otherwise, it will occur period bifurcation. |
| format | Article |
| id | doaj-art-b15b0b3a20a849a3b77c0c78a13cae0f |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-08-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-b15b0b3a20a849a3b77c0c78a13cae0f2025-01-10T14:55:32ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-08-014412412929797604Analysis of Local Stability for Passive Walking Robot based on Spatial Operator Algebra TheoryFei LouWei ShenJing GuanGuolin NiIn order to achieve stable control, the Poincare-mapping function is built by using spatial operator algebra (SOA) and the swing phase and impact phase dynamics equation of the passive walking robot are deduced. At last, the numerical analysis method is used to solve the stable fixed point of the mapping function, and the local stability of the model is analyzed. The result shows that, by using the theory of SOA, the Poincare-mapping function can be established effectively and fast, and avoids the complicated calculation of solving partial derivative in the modeling process by Lagrangian mechanics. At the same time, the analysis of local stability shows that passive walking robot must has stable fixed point for cycle stable walking, otherwise, it will occur period bifurcation.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.08.022Passive walking robot |
| spellingShingle | Fei Lou Wei Shen Jing Guan Guolin Ni Analysis of Local Stability for Passive Walking Robot based on Spatial Operator Algebra Theory Jixie chuandong Passive walking robot |
| title | Analysis of Local Stability for Passive Walking Robot based on Spatial Operator Algebra Theory |
| title_full | Analysis of Local Stability for Passive Walking Robot based on Spatial Operator Algebra Theory |
| title_fullStr | Analysis of Local Stability for Passive Walking Robot based on Spatial Operator Algebra Theory |
| title_full_unstemmed | Analysis of Local Stability for Passive Walking Robot based on Spatial Operator Algebra Theory |
| title_short | Analysis of Local Stability for Passive Walking Robot based on Spatial Operator Algebra Theory |
| title_sort | analysis of local stability for passive walking robot based on spatial operator algebra theory |
| topic | Passive walking robot |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.08.022 |
| work_keys_str_mv | AT feilou analysisoflocalstabilityforpassivewalkingrobotbasedonspatialoperatoralgebratheory AT weishen analysisoflocalstabilityforpassivewalkingrobotbasedonspatialoperatoralgebratheory AT jingguan analysisoflocalstabilityforpassivewalkingrobotbasedonspatialoperatoralgebratheory AT guolinni analysisoflocalstabilityforpassivewalkingrobotbasedonspatialoperatoralgebratheory |