Schwarz waveform relaxation (SWR), parareal algorithm, convergence analysis, weak scaling, domain decomposition
In this study, an ascending stair biped robot model with impulse thrust is presented. The biped robot contains a hip joint and two legs with massless telescoping actuator. Impulse thrust is applied at the ankle joint of robot's stance leg to simulate the forward push-off of the ankle during hum...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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AIMS Press
2022-09-01
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| Series: | Electronic Research Archive |
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| Online Access: | https://www.aimspress.com/article/doi/10.3934/era.2022208 |
| _version_ | 1811317915915386880 |
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| author | Jiarui Chen Aimin Tang Guanfeng Zhou Ling Lin Guirong Jiang |
| author_facet | Jiarui Chen Aimin Tang Guanfeng Zhou Ling Lin Guirong Jiang |
| author_sort | Jiarui Chen |
| collection | DOAJ |
| description | In this study, an ascending stair biped robot model with impulse thrust is presented. The biped robot contains a hip joint and two legs with massless telescoping actuator. Impulse thrust is applied at the ankle joint of robot's stance leg to simulate the forward push-off of the ankle during human walking. The nonlinear ascending stair biped model is linearized and a discrete map is obtained. The conditions for the existence and stability of period-1 gait are obtained by means of this discrete map. The expressions of torques to ensure robot walking are derived and Flip bifurcation is investigated. Numerical simulations, such as phase diagram of period-1, 2, 4 gaits and bifurcation diagram, are given in an example. Theoretical analysis and numerical results obtained in this study provide a theoretical basis for stable walking of ascending stair biped robot with periodic gaits. |
| first_indexed | 2024-04-13T12:16:42Z |
| format | Article |
| id | doaj.art-fb857083b2384dac9abdc6a78e1ba9c3 |
| institution | Directory Open Access Journal |
| issn | 2688-1594 |
| language | English |
| last_indexed | 2024-04-13T12:16:42Z |
| publishDate | 2022-09-01 |
| publisher | AIMS Press |
| record_format | Article |
| series | Electronic Research Archive |
| spelling | doaj.art-fb857083b2384dac9abdc6a78e1ba9c32022-12-22T02:47:21ZengAIMS PressElectronic Research Archive2688-15942022-09-0130114108413510.3934/era.2022208 Schwarz waveform relaxation (SWR), parareal algorithm, convergence analysis, weak scaling, domain decompositionJiarui Chen0Aimin Tang1Guanfeng Zhou2Ling Lin 3Guirong Jiang41. School of Mathematics and Computing Science, Guilin University of Electronic Technology, Guilin 541004, China2. Library, Guilin University of Electronic Technology, Guilin 541004, China3. School of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin 541004, China1. School of Mathematics and Computing Science, Guilin University of Electronic Technology, Guilin 541004, China1. School of Mathematics and Computing Science, Guilin University of Electronic Technology, Guilin 541004, ChinaIn this study, an ascending stair biped robot model with impulse thrust is presented. The biped robot contains a hip joint and two legs with massless telescoping actuator. Impulse thrust is applied at the ankle joint of robot's stance leg to simulate the forward push-off of the ankle during human walking. The nonlinear ascending stair biped model is linearized and a discrete map is obtained. The conditions for the existence and stability of period-1 gait are obtained by means of this discrete map. The expressions of torques to ensure robot walking are derived and Flip bifurcation is investigated. Numerical simulations, such as phase diagram of period-1, 2, 4 gaits and bifurcation diagram, are given in an example. Theoretical analysis and numerical results obtained in this study provide a theoretical basis for stable walking of ascending stair biped robot with periodic gaits.https://www.aimspress.com/article/doi/10.3934/era.2022208ascending stair biped robotimpulse thrustpoincaré mapperiodic gaitwalking dynamics |
| spellingShingle | Jiarui Chen Aimin Tang Guanfeng Zhou Ling Lin Guirong Jiang Schwarz waveform relaxation (SWR), parareal algorithm, convergence analysis, weak scaling, domain decomposition Electronic Research Archive ascending stair biped robot impulse thrust poincaré map periodic gait walking dynamics |
| title | Schwarz waveform relaxation (SWR), parareal algorithm, convergence analysis, weak scaling, domain decomposition |
| title_full | Schwarz waveform relaxation (SWR), parareal algorithm, convergence analysis, weak scaling, domain decomposition |
| title_fullStr | Schwarz waveform relaxation (SWR), parareal algorithm, convergence analysis, weak scaling, domain decomposition |
| title_full_unstemmed | Schwarz waveform relaxation (SWR), parareal algorithm, convergence analysis, weak scaling, domain decomposition |
| title_short | Schwarz waveform relaxation (SWR), parareal algorithm, convergence analysis, weak scaling, domain decomposition |
| title_sort | schwarz waveform relaxation swr parareal algorithm convergence analysis weak scaling domain decomposition |
| topic | ascending stair biped robot impulse thrust poincaré map periodic gait walking dynamics |
| url | https://www.aimspress.com/article/doi/10.3934/era.2022208 |
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