Demonstration and Analysis of Quadrupedal Passive Dynamic Walking
Demonstration and Analysis of Quadrupedal Passive Dynamic Walking
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DOI：
10.1163/156855309x420039
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发表时间：
2009-01-01
影响因子：
2
通讯作者：
Osuka, Koichi
中科院分区：
文献类型：
--
作者：
Nakatani, Kazuhiro;Sugimoto, Yasuhiro;Osuka, Koichi
包括人类在内的动物可以适应性地在各种环境中旅行。腿式运动使这成为可能。然而，腿式运动是暂时不稳定的，找出步行原理对于优化运动策略或工程应用具有重要意义。作为挑战之一，人们对此进行了被动动态行走的研究。被动动态行走是一种没有执行器的双足行走机器人沿着缓坡行走的行走现象。步态非常平稳（就像人类一样）并且对此进行了大量研究。被动动态行走主要是两足行走。考虑到四足动物的数量比两足动物多，而且四足机器人比两足机器人更容易控制，四足被动动态行走必然存在。在此基础上，我们研究了矢状面四足被动动态行走仿真。然而，将结果归因于四足被动动态行走的存在还不够。在这项研究中，四足步行机器人“Quartet 4”对四足被动动态步行进行了实验演示。此外，被动观察身体关节类型、倾斜角度、腿长和步态多样性（四足动物的特征）的变化。实验数据不能有足够的行走时间，不能连续改变参数。然后，通过实验和三维模拟对每个步态进行定量分析。 (c) Koninklijke Brill NV，莱顿和日本机器人协会，2009 年
Animals, including human beings, can travel in a variety of environments adaptively. Legged locomotion makes this possible. However, legged locomotion is temporarily unstable and finding out the principle of walking is an important matter for optimum locomotion strategy or engineering applications. As one of the challenges, passive dynamic walking has been studied on this. Passive dynamic walking is a walking phenomenon in which a biped walking robot with no actuator walks down a gentle slope. The gait is very smooth ( like a human) and much research has been conducted on this. Passive dynamic walking is mainly about bipedalism. Considering that there are more quadruped animals than bipeds and a four-legged robot is easier to control than a two-legged robot, quadrupedal passive dynamic walking must exist. Based on the above, we studied saggital plane quadrupedal passive dynamic walking simulation. However, it was not enough to attribute the result to the existence of quadrupedal passive dynamic walking. In this research, quadrupedal passive dynamic walking is experimentally demonstrated by the four-legged walking robot 'Quartet 4'. Furthermore, changing the type of body joint, slope angle, leg length and variety of gaits ( characteristics in four-legged animals) was observed passively. Experimental data could not have enough walking time and could not change parameters continuously. Then, each gait was analyzed quantitatively by the experiment and three-dimensional simulation. (c) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2009