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A Study on Stability of Limit Cycle Walking Model with Feet: Parameter Study : Uno studio della stabilità del ciclo limite in un modello di camminata considerando i paramentri dei piedi, in: International Journal of Advanced Robotic Systems |
Deschide documentul
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Informaţii generale |
| Autor |
Jeon, Yonggwon; Park, Youn-sik; Park, Youngjin |
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InTech Open Access Publisher, 2013
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| Abstract |
In this paper, two kinds of feet, namely, curved
and flat feet, are added to limit cycle walking model to
investigate its stability properties. Although both models
are already proposed and are investigated, most previous
works are focused on efficiency and gait behaviors. Only
the stability properties of the simplest walking model
conceived Garcia et al. are well defined. Therefore, there is
still a need for a precise research on the effect of feet,
especially in the view of local stability, bifurcation route to
chaos, global stability, falling boundary and energy balance
line. Therefore, this article revisits the stability analysis of
limit cycle walking model with various foot shape. To
analyze the effects of feet, we re‐derive the equation of
motion of modified models by adding one more parameter
of foot shape than the simplest walking model. Also, the
falling boundary and energy balance line of modified
models are derived to get proper initial conditions for
stable walking and to explain global stability. Simulation
results show us that the curved feet can enlarge both stable
walking range and area of basin of attraction while the case
of flat feet depends on foot shape parameter. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicat: 2004
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