| 单腿跳跃机器人的被动周期运动研究 |
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| 引用本文： | 熊小琴,何广平.单腿跳跃机器人的被动周期运动研究[J].机械工程师,2011(4):13-15. |
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| 作者姓名： | 熊小琴 何广平 |
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| 作者单位： | 1. 武汉生物工程学院,机电系,武汉,430415
2. 北方工业大学,机电工程学院,北京,100444 |
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| 摘 要： | 单腿跳跃机器人系统是一个非线性系统,其是否存在被动周期运动,关系着单腿跳跃机器人是否能以最小能耗实现跳跃运动。文中采用Brute-force方法研究了最简跳跃机器人模型的被动周期运动,但Brute-force方法的最大一个缺点就是其初始条件是手动修改,这种手动修改初始条件的方法具有盲目性,即经过无数次的尝试,才能找到满意的初始条件,效率低下。文中最后提出设想,如果在确定初始条件前采用优化方法,找到合适的初始条件,那么就可以提高效率,避免了盲目性。
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| 关 键 词： | 跳跃机器人 自治混杂动态系统 被动周期运动 |
The Research of Passive Periodic Orbits of One-leg Hopping Robots |
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| XIONG Xiao-qin,HE Guang-ping.The Research of Passive Periodic Orbits of One-leg Hopping Robots[J].Mechanical Engineer,2011(4):13-15. |
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| Authors: | XIONG Xiao-qin HE Guang-ping |
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| Affiliation: | XIONG Xiao-qin1,HE Guang-ping2 (1.Electrical and Mechanical Department,Wuhan Institute of Biological Engineering,Wuhan 430415,China,2.College of Mechanical and Electrical Engineering,North China University of Technology,Beijing 100144,China) |
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| Abstract: | Single leg hopping robot system is a nonlinear system,the existence of its passive periodic motion relation with one legged hopping robot can achieve jumping motion with minimum energy consumption.In this paper,passive periodic motion of the most simple hopping robot model with Brute-force method is analysed,but the best one drawback of Brute-force method is the manual modification of its initial conditions,such manually modified the initial conditions method is blind,that is,after numerous attempts to find... |
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| Keywords: | autonomous hybrid dynamic systems passive periodic motion |
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