Underactuated Virtual Passive Dynamic Walking using Rolling Effect of Semicircular Feet-(II) Performance Analyses and Extension to Redundant Models-
Underactuated Virtual Passive Dynamic Walking using Rolling Effect of Semicircular Feet-(II) Performance Analyses and Extension to Redundant Models-
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DOI：
10.7210/jrsj.25.578
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
F. Asano;Zhiwei Luo
中科院分区：
文献类型：
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作者：
F. Asano;Zhiwei Luo
本文研究了半圆形脚对动态双足行走的影响。论文(I)阐明了利用滚动效应虚拟充当踝关节扭矩，可以实现欠驱动虚拟被动动态行走。本文（II）随后通过理论研究和数值分析详细研究了滚动对步态性能的影响。我们首先进行参数研究，并确认适当选择足部半径可以有效提高步行速度。然后从理论上阐明，步行速度的提高不是通过单一支撑阶段的滚动效应来实现的，而是通过减少脚跟着地碰撞引起的能量耗散来实现的。还证实了腿部的质量对于驱动机器人的质心沿行走方向是必要的。此外，还讨论了膝关节冗余模型的扩展。
This paper investigates what effect semicircular feet had on dynamic bipedal walking. It has been clarified in paper (I) that underactuated virtual passive dynamic walking can be realized by using the rolling effect, which acts as the ankle-joint torque virtually. This paper (II) then studies the rolling effect on the gait performances in detail through theoretical investigations and numerical analyses. We first perform parameter studies, and confirm that a suitable choice of the foot radius increases walking speed effectively. It is then theoretically clarified that increasing walking speed is achieved not by the rolling effect during the single support phase but by reducing the energy-dissipation due to heel-strike collisions. It is also confirmed that mass of the leg is necessary to drive the robot's center of mass in the walking direction. Furthermore, extension to redundant models with knee-joints is discussed.