Level-Ground Walk Based on Passive Dynamic Walking for a Biped Robot with Torso
Level-Ground Walk Based on Passive Dynamic Walking for a Biped Robot with Torso
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DOI：
10.1109/robot.2007.363970
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发表时间：
2007-04
期刊：
影响因子：
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通讯作者：
T. Narukawa;Masaki Takahashi;K. Yoshida
中科院分区：
文献类型：
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作者：
T. Narukawa;Masaki Takahashi;K. Yoshida
本研究提出一种基于被动动力学步行原理，以简单机构设计出一种高效的平地双足步行机器人。躯干用于产生主动功率，代替被动行走中使用的重力。摆动腿控制引入创建一个稳定的步态。数值仿真表明，具有膝关节和躯干的仿人机器人可以在平地上高效行走。当选择适当的摆腿控制参数时，机器人可以在较宽的速度范围内稳定行走。此外，机器人的步行性能随着圆足半径的增大而提高。
This study presents a design technique of an efficient biped walking robot on level ground with a simple mechanism based on passive-dynamic walking. A torso is used to generate active power replacing gravity used in passive walk. Swing-leg control is introduced to create a steady gait. Numerical simulations show that a biped robot with knees and a torso can walk efficiently on level ground. When we choose an appropriate parameter of the swing-leg control, the biped robot can walk stably over a wide range of speed. Furthermore, the walking performance of the robot increases with the increase of the radius of circular feet.