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Эта публикация цитируется в 28 научных статьях (всего в 28 статьях)
Painlevé’s Paradox and Dynamic Jamming in Simple Models of Passive Dynamic Walking
Yizhar Or Faculty of Mechanical Engineering,
Technion — Israel Institute of Technology,
Haifa 32000, Israel
Аннотация:
Painlevé's paradox occurs in the rigid-body dynamics of mechanical systems with frictional contacts at configurations where the instantaneous solution is either indeterminate or inconsistent. Dynamic jamming is a scenario where the solution starts with consistent slippage and then converges in finite time to a configuration of inconsistency, while the contact force grows unbounded. The goal of this paper is to demonstrate that these two phenomena are also relevant to the field of robotic walking, and can occur in two classical theoretical models of passive dynamic walking — the rimless wheel and the compass biped. These models typically assume sticking contact and ignore the possibility of foot slippage, an assumption which requires sufficiently large ground friction. Nevertheless, even for large friction, a perturbation that involves foot slippage can be kinematically enforced due to external forces, vibrations, or loose gravel on the surface. In this work, the rimless wheel and compass biped models are revisited, and it is shown that the periodic solutions under sticking contact can suffer from both Painlevé's paradox and dynamic jamming when given a perturbation of foot slippage. Thus, avoidance of these phenomena and analysis of orbital stability with respect to perturbations that include slippage are of crucial importance for robotic legged locomotion.
Ключевые слова:
multibody dynamics, rigid body contact, dry friction, Painlevé paradox, passive dynamic walking.
Поступила в редакцию: 12.12.2013 Принята в печать: 29.12.2013
Образец цитирования:
Yizhar Or, “Painlevé’s Paradox and Dynamic Jamming in Simple Models of Passive Dynamic Walking”, Regul. Chaotic Dyn., 19:1 (2014), 64–80
Образцы ссылок на эту страницу:
https://www.mathnet.ru/rus/rcd141 https://www.mathnet.ru/rus/rcd/v19/i1/p64
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