A humanoid robot has high mobility but possibly risks of tipping over. Until now, onemain topic on humanoid robots is to study the walking stability; the issue of the running stabilityhas rarely been investigated. The...A humanoid robot has high mobility but possibly risks of tipping over. Until now, onemain topic on humanoid robots is to study the walking stability; the issue of the running stabilityhas rarely been investigated. The running is di?erent from the walking, and is more di?cult tomaintain its dynamic stability. The objective of this paper is to study the stability criterion forhumanoid running based on the whole dynamics. First, the cycle and the dynamics of running areanalyzed. Then, the stability criterion of humanoid running is presented. Finally, the e?ectivenessof the proposed stability criterion is illustrated by a dynamic simulation example using a dynamicanalysis and design system (DADS).展开更多
The mixed l1/H2 optimization problem for MIMO (multiple input-multiple output) discrete-time systems is considered. This problem is formulated as minimizing the l1-norm of a closed-loop transfer matrix while maintaini...The mixed l1/H2 optimization problem for MIMO (multiple input-multiple output) discrete-time systems is considered. This problem is formulated as minimizing the l1-norm of a closed-loop transfer matrix while maintaining the H2-norm of another closed-loop transfer matrix at prescribed level. The continuity property of the optimal value in respect to changes in the H2-norm constraint is studied. The existence of the optimal solutions of mixed l1/H2 problem is proved. Because the solution of the mixed l1/H2 problem is based on the scaled-Q method, it avoids the zero interpolation difficulties. The convergent upper and lower bounds can be obtained by solving a sequence of finite dimensional nonlinear programming for which many efficient numerical optimization algorithms exist.展开更多
文摘A humanoid robot has high mobility but possibly risks of tipping over. Until now, onemain topic on humanoid robots is to study the walking stability; the issue of the running stabilityhas rarely been investigated. The running is di?erent from the walking, and is more di?cult tomaintain its dynamic stability. The objective of this paper is to study the stability criterion forhumanoid running based on the whole dynamics. First, the cycle and the dynamics of running areanalyzed. Then, the stability criterion of humanoid running is presented. Finally, the e?ectivenessof the proposed stability criterion is illustrated by a dynamic simulation example using a dynamicanalysis and design system (DADS).
基金This project was supported by the National Nature Science Foundation of China (60374009)Nature Science Foundation of Guangdong Province of China (990795).
文摘The mixed l1/H2 optimization problem for MIMO (multiple input-multiple output) discrete-time systems is considered. This problem is formulated as minimizing the l1-norm of a closed-loop transfer matrix while maintaining the H2-norm of another closed-loop transfer matrix at prescribed level. The continuity property of the optimal value in respect to changes in the H2-norm constraint is studied. The existence of the optimal solutions of mixed l1/H2 problem is proved. Because the solution of the mixed l1/H2 problem is based on the scaled-Q method, it avoids the zero interpolation difficulties. The convergent upper and lower bounds can be obtained by solving a sequence of finite dimensional nonlinear programming for which many efficient numerical optimization algorithms exist.
