TAILIEUCHUNG - Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 8

Tham khảo tài liệu 'adaptive motion of animals and machines - hiroshi kimura et al (eds) part 8', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Simulation Study of Self-Excited Walking of a Biped Mechanism 139 Fig. 7. Walking performance as a function of bent knee angle A 0 when the bent knee angle is larger than 5 degrees. Therefore it is not applicable to increase the velocity by increasing the feedback gain only. However in order to make the biped locomotion enter the limit cycle we have to increase the feedback gain as the bent knee angle increases. For the straight-leg mode k rad is enough to obtain a stable walk. But when the bent knee angle increases to 12 degrees k 7Nm rad is indispensable to obtain a stable walk. In addition the foot clearance is influenced by the feedback gain k. The clearance becomes minimum in the middle of the swing phase. As k increases the minimum clearance also increases. In the bent-knee walking model the clearance decreases as the bent angle increases. Since the minimum clearance can be regarded as a margin of stable walking it is necessary to increase the value of k in order to realize steady walking. a 10 k radAs seen in the walking speed can be further increased by increasing the radius of the cylindrical foot. Figure 7 shows the effect of foot radius on the walking performance when bent knee angle ags 10 degrees and k 8Nm rad. Here the mass of the foot is ignored in simulation. From Fig. 7 we can note that as the foot radius increases the step length and velocity increase almost linearly. This is because the contact point of the support leg is carried by the rolling motion of the cylindrical foot surface in addition to the angular motion as an inverted pendulum. As the radius of the foot reaches m the velocity increases to m s. This means a 40 140 Kyosuke Ono Xiaofeng Yao increase in contrast to the model without the foot. But we may encounter the problem of losing stability because the foot clearance from the ground will decrease as the radius of the foot increases. When the radius is larger than m the toe of the swing foot may strike .

TỪ KHÓA LIÊN QUAN
Đã phát hiện trình chặn quảng cáo AdBlock
Trang web này phụ thuộc vào doanh thu từ số lần hiển thị quảng cáo để tồn tại. Vui lòng tắt trình chặn quảng cáo của bạn hoặc tạm dừng tính năng chặn quảng cáo cho trang web này.