A 2-D Passive-Dynamic-Running Biped With Elastic Elements
A 2-D Passive-Dynamic-Running Biped With Elastic Elements
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DOI：
10.1109/tro.2010.2098610
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发表时间：
2011-02
影响因子：
7.8
通讯作者：
D. Owaki;Masatoshi Koyama;S. Yamaguchi;Shota Kubo;A. Ishiguro
中科院分区：
文献类型：
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作者：
D. Owaki;Masatoshi Koyama;S. Yamaguchi;Shota Kubo;A. Ishiguro
这是第一次研究一个真实的物理膝双足机器人，表现出被动动态运行（PDR），即，在没有致动器的设备中具有飞行阶段的双足步态。通过仔细设计在该装置中的髋关节和站立腿中实施的弹性元件的特性，我们实现了由36个步骤组成的稳定PDR。本文的主要贡献是PDR在真实的世界中的演示，充分利用了弹性力学性质。
This is the first study of a real physical kneed bipedal robot that exhibits passive-dynamic running (PDR), i.e., a bipedal gait with a flight phase in a device without an actuator. By carefully designing the properties of the elastic elements implemented into the hip joints and the stance legs in this device, we achieved a stable PDR consisting of 36 steps. The main contribution of this paper is the demonstration of PDR in the real world, which fully exploits the elastic mechanical properties.