TY - GEN
T1 - Study on Quasi-passive Walking Robot Based on Impulse Thrust
AU - Liu, Jinkun
AU - Chen, Xuechao
AU - Qiu, Xuejian
AU - Meng, Libo
AU - Yu, Zhangguo
AU - Huang, Qiang
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - Based on the passive walking robots, a new quasi-passive walking robot based on impulse thrust is studied. Firstly, we establish a simple quasi-passive walking robot model. The dynamic equation and the transition equation of the simplest two-link model are analyzed by using angular momentum theorem. The existence and stability of the fixed points are analyzed by using Poincare map. Secondly, we use MATLAB to simulate the walking robot, calculate the fixed points of the quasi-passive walking robot, and analyze the stability of the system through the eigenvalue of Jacobian of the linearized map. The feasibility of impulse thrust and telescopic leg is verified.
AB - Based on the passive walking robots, a new quasi-passive walking robot based on impulse thrust is studied. Firstly, we establish a simple quasi-passive walking robot model. The dynamic equation and the transition equation of the simplest two-link model are analyzed by using angular momentum theorem. The existence and stability of the fixed points are analyzed by using Poincare map. Secondly, we use MATLAB to simulate the walking robot, calculate the fixed points of the quasi-passive walking robot, and analyze the stability of the system through the eigenvalue of Jacobian of the linearized map. The feasibility of impulse thrust and telescopic leg is verified.
UR - http://www.scopus.com/inward/record.url?scp=85078347555&partnerID=8YFLogxK
U2 - 10.1109/ARSO46408.2019.8948783
DO - 10.1109/ARSO46408.2019.8948783
M3 - Conference contribution
AN - SCOPUS:85078347555
T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
SP - 261
EP - 264
BT - 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
PB - IEEE Computer Society
T2 - 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Y2 - 31 October 2019 through 2 November 2019
ER -