Abstract
On the basis of Poincare mapping and cell mapping theories, this paper proposes an improved PCM method that is Gradual Point Mapping - Cell Mapping (GPCM) method. Compared with Point Mapping - Cell Mapping Synthesis (PCM) method, GPCM method proposed can better address the calculation excessive, the credibility guarantee and other issues. The global stability of passive biped robot was analyzed by using GPCM method, the global domains of attraction of a variety of physical parameters' combinations were solved, and we optimized the robot's parameters accordingly. The dynamics simulation and robot prototype experiments show that the robot has strong robustness and can converge to a stable gait by a fast convergence rate.
| Original language | English |
|---|---|
| Pages | 800-804 |
| Number of pages | 5 |
| DOIs | |
| State | Published - 2013 |
| Event | 2013 2nd International Symposium on Instrumentation and Measurement, Sensor Network and Automation, IMSNA 2013 - Toronto, ON, Canada Duration: 23 Dec 2013 → 24 Dec 2013 |
Conference
| Conference | 2013 2nd International Symposium on Instrumentation and Measurement, Sensor Network and Automation, IMSNA 2013 |
|---|---|
| Country/Territory | Canada |
| City | Toronto, ON |
| Period | 23/12/13 → 24/12/13 |
Keywords
- Domain of Attraction
- Dynamic Simulation
- Global Analysis
- Passive Biped Robot
- Poincare Mapping
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