Stability Analysis of Passive Compass Gait Using Linearized Model
The inherent self-stabilization mechanism of passive gait is one of the most fundamental question in the area of studies on limit cycle walking. It is well known that the limit cycle stability can be tested by calculating the eigenvalues of the approximated Poincar′e return map, and they have been calculated numerically in previous studies. Hirata and Kokame, however, firstly succeeded to derive the Jacobian matrix of the Poincar′e return map using linearization of the dynamic equation. In this paper, we reconsider their method and propose an easier approach to derive the discrete-time linear error system. Our approach enables to derive the error system without integral terms. Through the theoretical investigations, we show that a passive compass-gait is formed by the combination of unstable stance phases and marginally stable collision phases. The validity is investigated by numerical simulations.
Fumihiko Asano
School of Information Science,Japan Advanced Institute of Science and Technology,1-1 Asahidai,Nomi,Ishikawa 923-1292,Japan
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
557-562
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）