Turning Motions in the Simplest Passive Walking Model

سال انتشار: 1393
محل انتشار: بیست و دومین کنفرانس سالانه بین المللی مهندسی مکانیک
کد COI اختصاصی: ISME22_307
زبان مقاله: انگلیسی
تعداد مشاهده: 970

دانلود فایل این مقاله

نویسندگان

M. R. Sabaapour

PhD student, School of Mechanical Engineering, University of Tehran

M. R. Hairi Yazdi

Associate Professor, School of Mechanical Engineering, University of Tehran

B. Beigzadeh

Assistant Professor, School of Mechanical Engineering, Iran University of Science and Technology

چکیده

The ability to move along curved paths is an essential feature for biped walkers to move around obstacles. This study is aimed at extending passive walking concept for curved walking and turning to generate more natural and effective motion. Hence threedimensional (3D) motion of a rimless spoked-wheel about a general vertical fixed coordinate system has been derived as the simplest walking model. Then, two types of stable passive turning (i.e. limited and circular continuous) have been introduced and discussed. It was shown that the first type can be implemented on a straight slope surface, while the second novel category is applicable on a special surface profile that has been introduced as helical slope . Such new passive periodic motions can be interpreted as 2D and 3D fixed points of the Poincare return map, respectively. Their stability was evaluated numerically by Jacobian analysis, as well as demonstrated through several simulation runs. Results show asymptotical stability of such motions and their considerable basin of attraction with respect to initial states. In addition, the characteristic of passive turning is shown to be strictly concerned to the value of the initial perturbed condition, for instance, to the initial inclination of the wheel.

کلیدواژه ها

Biped, Passive walking, 3D Rimless wheel, Steering, Turning

مقالات مرتبط جدید

اطلاعات بیشتر در مورد COI

COI مخفف عبارت CIVILICA Object Identifier به معنی شناسه سیویلیکا برای اسناد است. COI کدی است که مطابق محل انتشار، به مقالات کنفرانسها و ژورنالهای داخل کشور به هنگام نمایه سازی بر روی پایگاه استنادی سیویلیکا اختصاص می یابد.

کد COI به مفهوم کد ملی اسناد نمایه شده در سیویلیکا است و کدی یکتا و ثابت است و به همین دلیل همواره قابلیت استناد و پیگیری دارد.