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Jianfei Li

Works: 1 works in 1 publications in 1 language and 1 library holdings
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Publications about Jianfei Li
Publications by Jianfei Li
Most widely held works by Jianfei Li
Method to Estimate the Basin of Attraction and Speed Switch Control for the Underactuated Biped Robot by Yantao Tian( Book )
1 edition published in 2010 in English and held by 1 library worldwide
In this chapter, we introduce a new method to estimate the basin of attraction for the biped robot and a speed switch control algorithm to change its walking speed. The method which is called Poincaré-like-alter-cell-to-cell mapping proposed in this chapter can also be used as a tool to estimate the basin of attraction of the hybrid system. Then a research about the law of controlling the walking speed based on energy shaping and the estimate of the basin of attraction for the underactuated kneed dynamic walker is carried out, which can change the walking speed smoothly. Simulation tests are done to verify the validity of these methods. We make a brief conclusion about the main works as follows 1) The robustness of the biped robot can be justified by the size of the basin of attraction that can be obtained by Poincaré-like-alter-cell-to-cell mapping method. 2) Poincaré-like-alter-cell-to-cell mapping method has more accuracy, and it is not timeconsuming. 3) Fixed point of the Poincaré map for the biped robot can be easily found with our method which is also used as an initial parameter in the proposed control algorithm. 4) Based on this speed switch control, the speed of the dynamic walking robot can be adjusted easily. 5) The description of the kinetic energy and potential energy and the visual simulation model can be used as effective tools for the analysis and control of our model. The work in our near future study as below 1) Using this method to estimate the stability of more complex dynamic models, especially the dynamic walking robot whose locomotion is in the three dimensional space. And obtaining its stable initial state is a tough work. 2) Optimizing the speed switch algorithm and the switch function to obtain the timeoptimized and energy-optimized trajectory in the controlled gait. 3) Researching for new mathematical tools to give the basin of the attraction more elaborated description. Meanwhile reducing the computational work in solving process is also a pressing problem
Alternative Names
Jianfei, Li
English (1)
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