欠驱动双足步态的稳定性

Stability of an underactuated bipedal gait.

作者信息

Mukherjee S, Sangwan V, Taneja A, Seth B

机构信息

Department of Mechanical Engineering, Indian Institute of Technology, Hauz Khas, New Delhi 110016, India.

出版信息

Biosystems. 2007 Sep-Oct;90(2):582-9. doi: 10.1016/j.biosystems.2007.01.002. Epub 2007 Jan 9.

DOI:10.1016/j.biosystems.2007.01.002

PMID:17307288

Abstract

A self-excited biped walking mechanism consisting of two legs that are connected in series at the hip joint through a servomotor is studied as a cyclic system with collisions. A torque proportional to angle between the shank of the swinging leg and the vertical is seen to sustain a gait. Each leg has a thigh and a shank connected at a passive knee joint that has a knee stopper restricting hyperextension similar to the human knee. A mathematical model for the dynamics of the system including the impact equations is used to analyse the stability of the system through examination of phase plane plots. Attractor lines along which the system approaches stability have been identified. A leg length for optimal stability has been identified. The biological basis for the proposed system has been identified by comparison with human gait.

摘要

研究了一种自激式双足行走机构，它由两条腿组成，通过一个伺服电机在髋关节处串联连接，作为一个具有碰撞的循环系统。可以看到，与摆动腿的小腿和垂直方向之间的角度成比例的扭矩维持着步态。每条腿都有一个大腿和一个小腿，它们在一个被动膝关节处相连，该膝关节有一个类似于人类膝盖的限制过度伸展的膝盖止动器。通过检查相平面图，使用包括冲击方程在内的系统动力学数学模型来分析系统的稳定性。已经确定了系统接近稳定的吸引线。已经确定了实现最佳稳定性的腿长。通过与人类步态的比较，确定了所提出系统的生物学基础。