Study on Quasi-passive Walking Robot Based on Impulse Thrust

Jinkun Liu; Xuechao Chen; Xuejian Qiu; Libo Meng; Zhangguo Yu; Qiang Huang

doi:10.1109/ARSO46408.2019.8948783

Study on Quasi-passive Walking Robot Based on Impulse Thrust

Jinkun Liu, Xuechao Chen^*, Xuejian Qiu, Libo Meng, Zhangguo Yu, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Publisher	IEEE Computer Society
Pages	261-264
Number of pages	4
ISBN (Electronic)	9781728131764
DOIs	https://doi.org/10.1109/ARSO46408.2019.8948783
Publication status	Published - Oct 2019
Event	15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 - Beijing, China Duration: 31 Oct 2019 → 2 Nov 2019

Publication series

Name	Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
Volume	2019-October
ISSN (Print)	2162-7568
ISSN (Electronic)	2162-7576

Conference

Conference	15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Country/Territory	China
City	Beijing
Period	31/10/19 → 2/11/19

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10.1109/ARSO46408.2019.8948783

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Liu, J., Chen, X., Qiu, X., Meng, L., Yu, Z., & Huang, Q. (2019). Study on Quasi-passive Walking Robot Based on Impulse Thrust. In 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 (pp. 261-264). Article 8948783 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2019-October). IEEE Computer Society. https://doi.org/10.1109/ARSO46408.2019.8948783

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title = "Study on Quasi-passive Walking Robot Based on Impulse Thrust",

abstract = "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.",

author = "Jinkun Liu and Xuechao Chen and Xuejian Qiu and Libo Meng and Zhangguo Yu and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 ; Conference date: 31-10-2019 Through 02-11-2019",

year = "2019",

month = oct,

doi = "10.1109/ARSO46408.2019.8948783",

language = "English",

series = "Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO",

publisher = "IEEE Computer Society",

pages = "261--264",

booktitle = "2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019",

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Liu, J, Chen, X, Qiu, X, Meng, L, Yu, Z & Huang, Q 2019, Study on Quasi-passive Walking Robot Based on Impulse Thrust. in 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019., 8948783, Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, vol. 2019-October, IEEE Computer Society, pp. 261-264, 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019, Beijing, China, 31/10/19. https://doi.org/10.1109/ARSO46408.2019.8948783

Study on Quasi-passive Walking Robot Based on Impulse Thrust. / Liu, Jinkun; Chen, Xuechao; Qiu, Xuejian et al.
2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019. IEEE Computer Society, 2019. p. 261-264 8948783 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2019-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Huang, Qiang

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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.

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Study on Quasi-passive Walking Robot Based on Impulse Thrust

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