Analysis of Local Stability for Passive Walking Robot based on Spatial Operator Algebra Theory

Fei Lou; Wei Shen; Jing Guan; Guolin Ni

doi:10.16578/j.issn.1004.2539.2020.08.022

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Analysis of Local Stability for Passive Walking Robot based on Spatial Operator Algebra Theory

Test·Analysis | 更新时间：2022-11-10

- Analysis of Local Stability for Passive Walking Robot based on Spatial Operator Algebra Theory
- Journal of Mechanical Transmission Vol. 44, Issue 8, Pages: 124-129(2020)
- 作者机构：
  
  1.南京师范大学中北学院，江苏丹阳 212300
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.08.022
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楼飞,沈巍,关静等.基于空间算子代数理论的被动步行机器人局部稳定性分析[J].机械传动,2020,44(08):124-129.

Lou Fei Shen Wei Guan Jing Ni Guolin.Analysis of Local Stability for Passive Walking Robot based on Spatial Operator Algebra Theory[J].Journal of Mechanical Transmission,2020,44(08):124-129.
楼飞,沈巍,关静等.基于空间算子代数理论的被动步行机器人局部稳定性分析[J].机械传动,2020,44(08):124-129. DOI： 10.16578/j.issn.1004.2539.2020.08.022.

Lou Fei Shen Wei Guan Jing Ni Guolin.Analysis of Local Stability for Passive Walking Robot based on Spatial Operator Algebra Theory[J].Journal of Mechanical Transmission,2020,44(08):124-129. DOI： 10.16578/j.issn.1004.2539.2020.08.022.

摘要

为了方便实现机器人稳定控制，利用空间算子代数理论构建了该被动步行机器人稳定性分析中的庞加莱映射函数，推导了其摆动相态和碰撞相态的动力学方程。利用数值分析的方法求解映射函数的稳定不动点，分析了该被动模型的局部稳定性。结果表明，空间算子代数理论在被动步行机器人稳定性分析中能有效快速地建立庞加莱映射函数，避免了拉格朗日力学在建模过程中求解偏导数的复杂计算；同时，局部稳定性分析中得知，该被动步行机器人只有在“稳定”不动点的时候才具备周期稳定步态，否则，会出现周期分岔现象。

Abstract

In order to achieve stable control, the Poincare-mapping function is built by using spatial operator algebra (SOA) and the swing phase and impact phase dynamics equation of the passive walking robot are deduced. At last, the numerical analysis method is used to solve the stable fixed point of the mapping function, and the local stability of the model is analyzed. The result shows that, by using the theory of SOA, the Poincare-mapping function can be established effectively and fast, and avoids the complicated calculation of solving partial derivative in the modeling process by Lagrangian mechanics. At the same time, the analysis of local stability shows that passive walking robot must has stable fixed point for cycle stable walking, otherwise, it will occur period bifurcation.

关键词

被动步行机器人稳定不动点局部稳定性空间算子代数

Keywords

Passive walking robotStable fixed pointLocal stabilitySpatial operator algebra

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