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 |
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