2A2-E19 受動走行のポアンカレマップに内在する陰的制御則と整合する陽的制御則の設計

概要

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In the present study, we discuss a design scheme for an explicit control law that well fits with the implicit control law underlying a Poincare map for passive dynamic running (PDR). In our previous study, we have found that an "implicit two-delay feedback structure" is an inherent stabilization mechanism in PDR. In this paper, we have designed an explicit control law based on our knowledge of the implicit control law in PDR and investigated the effect of the coupling between implicit and explicit control laws on the stability of PDR. Through our simulations, we have found that the proposed explicit control law plays a pivotal role to enhance the stability of running. To the best of our knowledge, this has not previously been addressed. The results obtained are expected to shed new light on the "well-coupling" between implicit and explicit control laws.
一般社団法人日本機械学会の論文