Biped gait generation based on parametric excitation by knee-joint actuation
Biped gait generation based on parametric excitation by knee-joint actuation
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DOI：
10.1017/s0263574709005487
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发表时间：
2007-12
期刊：
影响因子：
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通讯作者：
Y. Harata;F. Asano;Zhiwei Luo;Kouichi Taji;Y. Uno
中科院分区：
文献类型：
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作者：
Y. Harata;F. Asano;Zhiwei Luo;Kouichi Taji;Y. Uno
恢复足跟碰撞所损失的机械能是产生稳定步态的必要条件。实现这一点的一个原理是参数激励。最近，Asano等人将这一原理应用于具有伸缩式腿的两足机器人，并通过计算机仿真成功生成了可持续的两足步态。本文研究了一种双足机器人模型，该机器人不仅具有半圆足，而且具有驱动膝盖。虽然该机器人在臀部没有驱动器，但膝关节驱动器可以通过参数激励来维持步态。首先，我们验证了驱动膝盖可以引起参数激励，然后通过计算机仿真证明了所提出的双足机器人可以在只有驱动膝盖的情况下连续行走。
Restoring mechanical energy lost by heel-strike collisions is necessary for stable gait generation. One principle to realize this is parametric excitation. Recently, Asano et al. applied this principle to a biped robot with telescopic-legs, and succeeded in generating a sustainable biped gait by computer simulation. In this paper, we deal with a model of a biped robot that has not only semicircular feet but also actuated knees. Though this robot has no actuator at the hip, knee actuators can sustain gait by parametric excitation. We first verify that an actuated knee can cause parametric excitation, and then show by computer simulation that the proposed biped robot can walk continuously with actuated knees only.