Prediction of stable walking for a toy that cannot stand

被引：23

作者：

Coleman, M.J. ^{[1
]}

Garcia, M. ^{[1
]}

Mombaur, K. ^{[1
]}

Ruina, A. ^{[1
]}

机构：

[1] Dept. of Theor. and Appl. Mechanics, Cornell University, Ithaca, NY 14853-7501, United States

来源：

| 2001年 / American Institute of Physics Inc.卷 / 64期

关键词：

Asymptotic stability - Dynamic mechanical analysis - Eigenvalues and eigenfunctions - Friction - Mathematical models - Motion control - Rigidity - Statistical methods;

D O I：

10.1103/PhysRevE.64.022901

中图分类号：

学科分类号：

摘要：

A stable limit cycle walking motion was predicted by a simple rigid-body statically unstable mathematical model based loosely on the physical toy. The calculations added to the rigid body mechanism behaviours and its passive dynamics contributed to the stability of animal motion. The most unstable eigenvalue was reduced with maintained periodicity of the gait, positive foot clearance and static stability using a control software.

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