LCP Method for the Dynamics of the Passive Walking Robot with Friction and Impact

来源 :The Third International Conference on Dynamics,Vibration and | 被引量 : 0次 | 上传用户：jjxjt

【摘要】

：

【作者】

：

Wenjie Duan Qi Wang Tianshu Wang

【机构】

：

Department of Dynamics and Control,Beijing University of Aeronautics & Astronautics,Beijing,100191,C

【出处】

：

The Third International Conference on Dynamics,Vibration and

【发表日期】

：

2010年4期

【关键词】

：

Passive dynamic walking Linear Complementarity Problem impact with friction

下载到本地 , 更方便阅读

下载此文赞助VIP

声明 : 本文档内容版权归属内容提供方 , 如果您对本文有版权争议 , 可与客服联系进行内容授权或下架

论文部分内容阅读

　　Passive dynamic walking is an important research topic in the field of biped robots.The study of this field can be benefit for discovering the characteristics of biped walking and for the design and manufacture of biped robots with actuators.A passive walker can exhibit periodical gait on a gentle slope only by gravity.

其他文献

STRUCTURE OF PRINCIPAL EIGENVECTORS AND GENETIC DIVERSITY

The main concern of this paper is the models for genotype diversity.Genotypes are represented as finite sequences (s_1.s_2 s_n).where the entries s_i are drawn from a finite alphabet.The mutation matr

会议

THE GENERALIZED HYPERBOLIC PERTURBATION METHOD FOR HOMOCLINIC SOLUTION OF NONLINEAR AUTONOMOUS SYSTE

A generalized hyperbolic perturbation procedure is presented to extend the validity of the hyperbolic perturbation method for homoclinic solution of nonlinear oscillatory system (x) + g(x)=εf(μ,x,(x))

会议

Generalized hyperbolic perturbation methodnonlinear autonomous oscillatorhomoc

Application of Refined Vehicle Model Based on Multi-body System Dynamics in Coupled Vibration on Veh

In the existing studies of coupled vibration on vehicle-bridge system, when establishing vehicle dynamics model, vehicles differential motion equations of position and attitude coordinates are derived

会议

multi-body system dynamicsvehicle modelfinite element methodcoupled vibration

A PASSIVE DYNAMIC WALKING MODEL WITH COULOMBIC FRICTION AT THE HIP JIONT

Since Tad McGeers work in the late 1980s, passive dynamic walking has received special attention.M.Garcia introduced the simplest walking model which can walk down a shallow slope passively [1].M.Wiss

会议

passive dynamic walkingcoulombic frictionnumerical simulation

COMBINATION OF CYLINDER AND ELASTOMER FOR TRAPEZOIDAL PULSE GENERATION IN SHOCK TEST

This paper presents a reliable method for trapezoidal pulse generation and establishes a theoretical model to analyze its effect.By installing a cylinder under the test platform of a shock machine whi

会议

rapezoidal pulseshock testcylinderelastomer

CHARACTERISTIC OF IN-PHASE SYNCHRONIZATION FOR SELF-SYNCHRONOUS VIBRATION MECHANICAL SYSTEM

Self-synchronization and synchronic-drive vibration have been successfully applied in many engineering fields.An in-phase self-synchronous vibrating system is put forward.Based on Lagrange principle,

会议

nonlinear vibrationvibration synchronizationself-synchronizationin-phase sync

EXPERIMENTAL VERIFICATION OF THE TWO-DIMENSIONAL MODEL FOR THE DRY FRICTION FORCE.

Dry friction has been studied in a great many publications, whose classification, depending on the goals pursued there, is given in [1].In a majority of publications, the authors use the Coulomb dry f

会议

Coupled models of the sliding and whirling frictionPade expansionsexperimental

RESEARCH ON DAMPING CHARACTERISTICS OF HYDRAULIC SHOCK ABOSRBER FOR HEAVY-DUTY VEHICLES UNDER RANDOM

When vehicle travels on stochastic road.the suspension damper is actually working under random excitation.In order to accurately reflect the actual working characteristics of hydraulic shock absorber,

会议

hydraulic shock absorberdamping characteristicsnonlinear modeling

INFLUENCE OF THE COMBINED DRY FRICTION ON THE SLIDING OF THE HEAVY ROTATING DISK ALONG THE INCLINE P

The sliding of the heavy rotating disk along the incline plane in the presence of dry friction is one of the classical models in theoretical mechanics.It has been thoroughly studied by numerous author

会议

Coupled models of the sliding and whirling frictionPade expansionssliding of t

PARAMETER IDENTIFICATION OF MULTIBODY SYSTEMS BASED ON SECOND ORDER SENSITIVITY ANALYSYS

Parameter identification of multibody systems is to determine the geometric parameters and inertia parameters according to observed responses of the system, which can be applied in diagnostic or testi

会议

Multibody systemsparameter identificationoptimizationsensitivity analysis

LCP Method for the Dynamics of the Passive Walking Robot with Friction and Impact

其他学术论文