A physical principle of gait generation and its stabilization derived from mechanism of fixed point

被引：28

作者：

Ikemata, Yoshito ^{[1
]}

Sano, Akihito ^{[1
]}

Fujimoto, Hideo ^{[1
]}

机构：

[1] Nagoya Inst Technol, Dept Mech Engn, Nagoya, Aichi 4668555, Japan

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年

关键词：

passive walking; fixed point; global stability; inter-leg angle;

D O I：

10.1109/ROBOT.2006.1641813

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Passive walker with knees can walk down shallow slope in a natural gait and can exhibit a stable limit cycle. Though the passive walker is mechanically simple, it is a sort of hybrid system that combines the continuous dynamics of leg-swing motion and the discrete event of leg-exchange. In this paper, we focus on the mechanism of fixed point. We demonstrate a physical principle of gait generation and its stabilization derived from the mechanism of fixed point. Based on the principle, we made a simple improvement on passive walker with knees. The passive walker could have high stability, and could walk on treadmill for 4010 steps.

引用

页码：836 / +

页数：2

共 50 条

[1] Generation and local stabilization of fixed point based on a stability mechanism of passive walking
Ikemata, Yoshito
Sano, Akihito
Fujimoto, Hideo
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, : 3218 - +
[2] An abstract common fixed point principle and its applications
Jachymski, JR
BULLETIN OF THE AUSTRALIAN MATHEMATICAL SOCIETY, 1996, 53 (01) : 13 - 19
[3] Stabilization of passive walking based on a stability mechanism of fixed point
Ikemata, Yoshito
Sano, Akihito
Fujimoto, Hideo
2006 IEEE INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE, 2006, : 477 - +
[4] REMARKS ON THE BANACH FIXED-POINT PRINCIPLE AND ITS APPLICATIONS
RZEPECKI, B
REVUE ROUMAINE DE MATHEMATIQUES PURES ET APPLIQUEES, 1982, 27 (01): : 82 - 93
[5] Physical mechanism of the (tri)critical point generation
Bugaev, K. A.
Ivanytskyi, A. I.
Nikonov, E. G.
Petrov, V. K.
Sorin, A. S.
Zinovjev, G. M.
PHYSICS OF ATOMIC NUCLEI, 2012, 75 (06) : 707 - 709
[6] Physical mechanism of the (tri)critical point generation
K. A. Bugaev
A. I. Ivanytskyi
E. G. Nikonov
V. K. Petrov
A. S. Sorin
G. M. Zinovjev
Physics of Atomic Nuclei, 2012, 75 : 707 - 709
[7] RUNNING PATTERN GENERATION OF HUMANOID BIPED WITH A FIXED POINT AND ITS REALIZATION
Cho, Baek-Kyu
Park, Ill-Woo
Oh, Jun-Ho
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 2009, 6 (04) : 631 - 656
[8] RUNNING PATTERN GENERATION OF HUMANOID BIPED WITH A FIXED POINT AND ITS REALIZATION
Cho, Baek-Kyu
Oh, Jun-ho
2008 8TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS 2008), 2008, : 299 - +
[9] VARIATIONAL REPRESENTATIONS IN REACTOR PHYSICS DERIVED FROM A PHYSICAL PRINCIPLE
LEWINS, J
NUCLEAR SCIENCE AND ENGINEERING, 1960, 8 (02) : 95 - 104
[10] From an abstract maximal element principle to optimization problems, stationary point theorems and common fixed point theorems
Lin, Lai-Jiu
Du, Wei-Shih
JOURNAL OF GLOBAL OPTIMIZATION, 2010, 46 (02) : 261 - 271

← 1 2 3 4 5 →