scholarly journals Impulsive control and stability analysis of biped robot based on virtual constraint and adaptive optimization

2020 ◽  
Vol 2 (2) ◽  
pp. e32
Author(s):  
Helin Wang ◽  
Hao Zhang ◽  
Zhuping Wang ◽  
Qijun Chen
Keyword(s):  
Stability Analysis ◽  
Impulsive Control ◽  
Biped Robot ◽  
Adaptive Optimization

2A2-E02 Stability Analysis for Passive Dynamic Biped Robot Using Constraining Sole Shape(Passive Walking Robot (1))

2013 ◽  
Vol 2013 (0) ◽  
pp. _2A2-E02_1-_2A2-E02_4
Author(s):  
Takeru OMIDOU ◽  
Manabu SUGAWARA ◽  
Kana TAMAGAWA ◽  
Naoya RIKIISHI ◽  
Kazuyuki HYODO ◽  
...  
Keyword(s):  
Stability Analysis ◽  
Biped Robot ◽  
Walking Robot ◽  
Passive Walking

scholarly journals Stability Analysis of a Single-Species Markovian Jumping Ecosystem

2021 ◽  
Author(s):  
Ruofeng Rao
Keyword(s):  
Stability Analysis ◽  
Stability Criterion ◽  
Impulsive Control ◽  
Single Species ◽  
Markovian Jumping ◽  
Numerical Examples

In this paper, impulsive control on a single-species Markovian jumping ecosystem leads to a stability criterion, and the newly-obtained theorems improve the related existing results. Numerical examples illuminate the effectiveness.

scholarly journals Jacobi stability analysis and impulsive control of a 5D self-exciting homopolar disc dynamo

2020 ◽  
Vol 0 (0) ◽  
pp. 0
Author(s):  
Zhouchao Wei ◽  
Fanrui Wang ◽  
Huijuan Li ◽  
Wei Zhang
Keyword(s):  
Stability Analysis ◽  
Periodic Orbit ◽  
Impulsive Control ◽  
Hidden Attractor ◽  
Geometric Methods ◽  
Onset Of Chaos ◽  
Specific Parameter ◽  
The Matrix ◽  
Parameter Values ◽  
Deviation Vector

<p style='text-indent:20px;'>In this paper, we make a thorough inquiry about the Jacobi stability of 5D self-exciting homopolar disc dynamo system on the basis of differential geometric methods namely Kosambi-Cartan-Chern theory. The Jacobi stability of the equilibria under specific parameter values are discussed through the characteristic value of the matrix of second KCC invariants. Periodic orbit is proved to be Jacobi unstable. Then we make use of the deviation vector to analyze the trajectories behaviors in the neighborhood of the equilibria. Instability exponent is applicable for predicting the onset of chaos quantitatively. In addition, we also consider impulsive control problem and suppress hidden attractor effectively in the 5D self-exciting homopolar disc dynamo.</p>

scholarly journals Postural Stability Analysis of Compass-like Biped Robot Model

2006 ◽  
Vol 24 (2) ◽  
pp. 232-239 ◽  
Author(s):  
Yuji Hosokawa ◽  
Hisakazu Nakamura ◽  
Hirokazu Nishitani ◽  
Yuh Yamashita
Keyword(s):  
Stability Analysis ◽  
Postural Stability ◽  
Biped Robot

Biped robot modeling with reflex function for standing stability analysis and control.

2015 ◽  
Author(s):  
Jhoan Sebastian Rodriguez Rodriguez ◽  
Ricardo Emiro Ramírez Heredia
Keyword(s):  
Stability Analysis ◽  
Biped Robot ◽  
And Control ◽  
Robot Modeling

Optimization Synthesis on Water Running Mechanism of Biped Robot

2011 ◽  
Vol 211-212 ◽  
pp. 454-459 ◽  
Author(s):  
Lin Sen Xu ◽  
Bing Li ◽  
Feng Xu ◽  
Jiang Hai Zhao ◽  
Bao Lin Feng
Keyword(s):  
Stability Analysis ◽  
Biped Robot ◽  
Maximum Force ◽  
Critical Conditions ◽  
Kinematics Analysis ◽  
Linkage Mechanism ◽  
Hybrid Drive ◽  
Basilisk Lizard ◽  
The Stability

A mechanism based on a four-linkage mechanism and a hybrid-drive six-linkage mechanism is designed to imitate the function of the basilisk lizard running on water. The kinematics analysis of the water running mechanism is carried out by using the linkage mechanism kinematics and the D-H method. Then the stability analysis of the mechanism is carried out according to the critical conditions. At last the mechanism is simulated and optimized for getting the maximum momentum in the slap phase and the maximum force in the stroke phase. And the simulation result shows that the mechanism can satisfy the requirement of biped water running.

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