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为解决机器人被动行走研究中不动点搜索的时间和结果都依赖于初始值的问题,该文研究了形成周期性步态的充要条件,得到不动点处状态变量之间的约束关系,从而将搜索空间从二维降低为一维,并提出了一维空间中不动点搜索的新算法。该算法能在固定的搜索时间内一次性找到所有稳定和不稳定的周期性步态的不动点,而不需要进行初始值的选择。该文通过数值仿真验证了新算法的有效性。
In order to solve the problem that the time and result of fixed point search in robot passive walking depend on the initial value, this paper studies the necessary and sufficient conditions for forming periodic gait and obtains the constraint relationship between state variables at fixed point. Which reduces the search space from two dimensions to one dimension, and proposes a new algorithm for fixed point search in one-dimensional space. The algorithm can find the fixed points of all stable and unstable periodic gait in a fixed search time without the need of initial value selection. This paper verifies the effectiveness of the new algorithm by numerical simulation.