LIE SYMMETRIES AND CONSERVED QUANTITY OF A BIPED ROBOT

作     者：KeXianxin GongZhenbang FuJingli 

作者机构：DepartmentofPrecisionMechanicalEngineering.ShanghaiUniversityShanghai200072China ShanghaiInstituteofAppliedMathematicsandMechanics.ShanghaiUniversityShanghai200072China 

出 版 物：《Acta Mechanica Solida Sinica》 (固体力学学报（英文版）)

年 卷 期：2004年第17卷第2期

页      面：183-188页

核心收录：

学科分类：07[理学] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 070104[理学-应用数学] 0802[工学-机械工程] 0701[理学-数学] 

主　　题：biped robot Lie symmetry conserved quantity 

摘      要：For a better understanding of the dynamic principles governing biped locomotion, the Lie symmetries and conservation laws of a biped robot are studied. In Lie theory, Lie sym- metries and conservation laws can be derived from the form invariance of di?erential equations undergoing in?nitesimal transformation. By introducing in?nitesimal transformations including time and spatial coordinates, the determining equations of a biped robot are established. Then the necessary and su?cient conditions for a biped robot to have conserved quantities are obtained. For the lateral-plane dynamical model of a biped robot, a Lie conserved quantity is found.