用胞胞映射计算被动行走模型不动点的吸引盆

该文将胞胞映射应用于平面圆弧足直腿和有膝盖的被动行走模型研究。将周期胞作为初值,可以消除迭代方法确定不动点时初值选取的随机性,能方便地找到模型的周期步态。通过胞胞映射获得了大于点状足最简模型的吸引盆。从吸引盆可以发现,从远离不动点的初始位置出发也可以收敛到极限环上。在此基础上还研究了不同物理参数对吸引盆大小的影响,总结了直腿模型可获得较大吸引盆的参数组合。

STUDY OF THE BASIN OFATTRACTION OF PASSIVE MODELS BY THE AID OF CELL-TO-CELL MAPPING METHOD

Cell-to-cell mapping method was used for the study of the planar passive walking models with straight legs and kneed legs. Fixed points can be obtained by the period cells, and the periodical gaits can be determined. This method can avoid the randomness of the initial values when choosing of the iteration. The basins of attraction of our models are larger than the point foot model, and periodical walking can begin from points that far from the fixed point. The effects of parameters variation on the basin of attraction are discussed and some parameter combinations are determined which can have large basins of attraction.