Planar standing and marking-time regimes of a bipedal walking device. (English. Russian original) Zbl 0721.70002
J. Appl. Math. Mech. 53, No. 2, 173-182 (1989); translation from Prikl. Mat. Mekh. 53, No. 2, 226-237 (1989).
Summary: A walking device standing on one leg, not fastened at its points of support, is considered. A study is made of how the device maintains equilibrium of its supporting leg by compensating oscillations of its body. Phase trajectories are analyzed. Conditions are investigated under which one-way communication is maintained and discontinued while the device is moving. Marking-time regimes are constructed. The problem of a standing walking device is interesting, first, as a problem in the dynamics of servosystems, and, second, as a limiting case of the problem of locomotion. Marking-time regimes may be used in constructing a model of space locomotion.
MSC:
| 70B15 | Kinematics of mechanisms and robots |
| 70Q05 | Control of mechanical systems |
| 93C85 | Automated systems (robots, etc.) in control theory |
Keywords:
walking device; Phase trajectories; dynamics of servosystems; Marking- time regimes; model of space locomotionReferences:
| [1] | Beletskii, V. V.; Lavrovskii, E. K., On the problem of a standing walking device, Prikl. Mat. Mekh., 43, 4 (1979) · Zbl 0441.70009 |
| [2] | Beletskii, V. V., Bipedal Locomotion - Model Problems in Dynamics and Control (1984), Nauka: Nauka Moscow |
| [3] | Beletskii, V. V., Dynamics of bipedal locomotion. I, II, (MTT, 3, and 4 (1975), Izv. Akad. Nauk SSSR) · Zbl 0556.70021 |
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. In some cases that data have been complemented/enhanced by data from zbMATH Open. This attempts to reflect the references listed in the original paper as accurately as possible without claiming completeness or a perfect matching.
