论文标题
稳定能量支持步态的圆形平面圆锥形的步态
Stabilization of Energy-Conserving Gaits for Point-Foot Planar Bipeds
论文作者
论文摘要
设计和稳定无冲击力的步态的问题被认为是针对不足的，脚踏的平面双子的问题。虚拟自动限制用于设计持势的步态。所需的步态对应于周期性的杂种轨道，并使用脉冲控制的庞加莱地图方法稳定。对五链接双头的情况下的数值模拟表明，从任意初始条件下表明了与所需步态的收敛。
The problem of designing and stabilizing impact-free, energy-conserving gaits is considered for underactuated, point-foot planar bipeds. Virtual holonomic constraints are used to design energy-conserving gaits. A desired gait corresponds to a periodic hybrid orbit and is stabilized using the Impulse Controlled Poincaré Map approach. Numerical simulations for the case of a five-link biped demonstrate convergence to a desired gait from arbitrary initial conditions.
