A Dynamics Analysis of a Double-Legs Robot

Qiu Ling Zhao; Li Yang

doi:10.4028/www.scientific.net/AMM.494-495.1152

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 494-495A Dynamics Analysis of a Double-Legs Robot

A Dynamics Analysis of a Double-Legs Robot

Abstract:

A passive-walking of a double-legs planar Robot is considered. The dynamic equation of the system walking down a shallow slope, powered only by gravity is established according to Lagrange method. After the equation was transferred to a dimensionless one, it shows the motion is depended not only on the free parameter, the ramp slope γ, but also on the ratio of m/M, m is mass of the foot of the model and M is the mass of the hip as well; The analytic calculations show that at the identical ramp slope γ, the whole moving has different phases: stable period walking and chaos with the increasing of m/M. Its phase portraits and graph of step time interval show the influence to the motion because of the ratio of m/M.

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Periodical:

Applied Mechanics and Materials (Volumes 494-495)

Pages:

1152-1155

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.494-495.1152

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Online since:

February 2014

Authors:

Qiu Ling Zhao*, Li Yang

Keywords:

Chaos, Double-Legs Robot, Dynamic, Passive-Walking

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