中国科学院机构知识库网格系统: Parameter optimization of passive dynamic walking biped with knees (EI CONFERENCE)

中国科学院机构知识库网格

Chinese Academy of Sciences Institutional Repositories Grid

Parameter optimization of passive dynamic walking biped with knees (EI CONFERENCE)

文献类型：会议论文


作者	Zhang P.
出版日期	2012
会议名称	2012 2nd International Conference on Materials Science and Information Technology, MSIT 2012, August 24, 2012 - August 26, 2012
会议地点	Xi'an, Shaan, China
关键词	A method to find the optimized parameter values of passive dynamic walking biped is presented. The effects of biped physical parameters on the stability property of passive gaits are studied by simulation experiments. The chosen parameters include the mass distribution length of leg and slope angle. The stability property of passive walking limit cycles is used as criterion of optimization calculation including the orbital stability described by eigen-values of linearized Poincare map and the global property described by size of attraction region. The simulation results show how the stability of limit cycle varies when physical parameters of the passive biped change. The work is useful to explore the inherent property of passive dynamic walking and can be used as an important instruction in the mechanical design of biped robots based on principle of passive dynamic walking. (2012) Trans Tech Publications Switzerland.
页码	379-384
收录类别	EI
源URL	[http://ir.ciomp.ac.cn/handle/181722/33318]
专题	长春光学精密机械与物理研究所_中科院长春光机所知识产出_会议论文
推荐引用方式 GB/T 7714	Zhang P.. Parameter optimization of passive dynamic walking biped with knees (EI CONFERENCE)[C]. 见:2012 2nd International Conference on Materials Science and Information Technology, MSIT 2012, August 24, 2012 - August 26, 2012. Xi'an, Shaan, China.

入库方式： OAI收割

来源：长春光学精密机械与物理研究所

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