# [1]钟林枫,罗翔,郭晨光.基于两点式步行吸引盆计算的稳定性分析[J].东南大学学报(自然科学版),2011,41(1):89-94.[doi:10.3969/j.issn.1001-0505.2011.01.018] 　Zhong Linfeng,Luo Xiang,Guo Chenguang.Stability analysis of attraction basin in two-point-foot walking pattern[J].Journal of Southeast University (Natural Science Edition),2011,41(1):89-94.[doi:10.3969/j.issn.1001-0505.2011.01.018] 点击复制 基于两点式步行吸引盆计算的稳定性分析() 分享到： var jiathis_config = { data_track_clickback: true };

41

2011年第1期

89-94

2011-01-20

## 文章信息/Info

Title:
Stability analysis of attraction basin in two-point-foot walking pattern

(东南大学机械工程学院, 南京211189)
Author(s):
(School of Mechanical Engineering, Southeast University,Nanjing 211189, China)

Keywords:

TP242
DOI:
10.3969/j.issn.1001-0505.2011.01.018

Abstract:
A new walking pattern denoted as two-point-foot walking pattern is proposed according to the foot structure of human being. The equations of a planar straight leg-inverted pendulum based on this pattern are derived to study the stability of gait and the energy consumption in biped walking. A new kind of numerical algorithm is put forward according to Poincare mapping. The fixed points and the basin of attraction of this model are obtained by the numerical method. The effects of λ and step variation on the basin of attraction and energy consumption are discussed for the biped walking. The area of basin of attraction decreases with the increase of coefficient λ; meanwhile, the speed converging to the fixed point accelerates; the ratio of initial conditions which can converge to the fixed point quickly increases. On the other hand, the area of basin of attraction increases with the step length; so that more energy would be consumed for unit distance of the model’s walk. A parameters combination that λ is 0. 55 and step is 0. 50 is of advantage for the control of robot.

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