The invention provides a symmetrical rimless wheel model motion behavior adjusting method based on a motion stopping attraction domain. The method comprises the steps: constructing and describing theinitial state of a symmetrical rimless wheel model based on the initial kinetic energy and slope inclination angle of the symmetrical rimless wheel model, creating a state coordinate system, and enabling an interval formed by the state coordinate system to be an attraction domain region; classifying the final stable state attraction domain according to the model parameters, and constructing and obtaining a corresponding attraction domain area in the state coordinate system; calculating boundaries among a plurality of different attraction domain areas; according to the initial state and the attraction domain area, jointly calculating a final stable state of the symmetrical sideless wheel model; and enabling the final stable state to meet the expectation by adjusting model parameters. According to the method, a complete adjustment method capable of realizing expected motion characteristics is constructed based on calculation and analysis of a stop motion attraction domain of the symmetrical rimless wheel model, and a practical scheme is provided for guiding biped walking simulation research of a real robot by using the rimless wheel model.
本发明提供了一种基于停止运动吸引域的对称无边轮模型运动行为调节方法,包括:基于对称无边轮模型的初始动能和斜面倾角,构造和描述对称无边轮模型的初始状态,并创建状态坐标系,状态坐标系所形成的区间即为吸引域区域;依据模型参数对最终稳定状态吸引域进行分类,在状态坐标系中构造并获得相应的吸引域区域;计算多种不同的吸引域区域间的边界;依据初始状态和吸引域区域共同计算获得对称无边轮模型的最终稳定状态;通过调节模型参数,使最终稳定状态符合期望。本发明基于对对称无边轮模型的停止运动吸引域的计算分析,构建出能够实现预期运动特征的完整的调节方法,为将无边轮模型用于指导真实机器人仿双足行走研究提供切实方案。
Symmetrical rimless wheel model motion behavior adjusting method based on motion stopping attraction domain
基于停止运动吸引域的对称无边轮模型运动行为调节方法
2020-12-04
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
METHOD FOR MANUFACTURING PNEUMATIC RIMLESS WHEEL FOR TRANSPORT FACILITY
Europäisches Patentamt | 2015
|