Yet another humanoid walking - passive dynamic walking with torso under simple control
Yet another humanoid walking - passive dynamic walking with torso under simple control
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DOI：
10.1109/iros.2001.973368
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发表时间：
2001-10
期刊：
影响因子：
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通讯作者：
M. Haruna;M. Ogino;K. Hosoda;M. Asada
中科院分区：
文献类型：
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作者：
M. Haruna;M. Ogino;K. Hosoda;M. Asada
被动动态步行（PDW）作为一种简单的步行方法，不需要或几乎不需要控制，因此需要少量的能量消耗，已经受到越来越多的关注。据我们所知，没有PDW模型与躯干，虽然已经有许多研究PDW。本文提出了第一步，通过向传统的PDW模型中添加躯干，将PDW原理应用于人形机器人。计算机仿真结果表明，PDW机器人的步行收敛在一个稳定的步态周期，只有一个简单的PD控制之间的躯干和站立腿的躯干站起来。已经测试了三种尝试以通过改变躯干的期望姿势、添加柔软的腿尖和改变鞋底的曲率来减小使躯干站立的扭矩。仿真结果显示和讨论。
Passive dynamic walking (PDW) has received an increasing attention as a simple walking method with no or very little control, thus requiring a small amount of energy consumption. To the best of our knowledge, there are no PDW models with a torso although there have already been many studies on PDW. This paper presents the first step towards applying the PDW principle to humanoid robots by adding a torso to a conventional PDW model. The computer simulation shows that the walking of the PDW robot converges at a stable gait cycle only with a simple PD control applied between the torso and the stance leg to stand the torso up. Three attempts have been tested to reduce the torque to stand the torso up by: changing the desired posture of the torso, adding the soft leg tips, and changing the curvature of the sole. Simulation results are shown and discussed.