Efficient bipedal robots based on passive-dynamic walkers
Efficient bipedal robots based on passive-dynamic walkers
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DOI：
10.1126/science.1107799
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发表时间：
2005-02-18
期刊：
影响因子：
56.9
通讯作者：
Wisse, M
中科院分区：
文献类型：
--
作者：
Collins, S;Ruina, A;Wisse, M
被动动力步行者是一种简单的机械装置，由关节连接的固体部件组成，可以稳定地在斜坡上行走。它们没有马达或控制器，但却能做出非常像人类的动作。这表明这些机器是人类运动的有用模型；然而，他们不能在水平上行走。地面。本文提出了三种基于被动动力学的机器人，用小的有源电源代替重力，可以在平地上行走。这些机器人比其他动力机器人使用更少的控制和更少的能量，但行走更自然，进一步表明被动动力学在人类运动中的重要性。
Passive-dynamic walkers are simple mechanical devices, composed of solid parts connected by joints, that walk stably down a slope. They have no motors or controllers, yet can have remarkably humanlike motions. This suggests that these machines are useful models of human locomotion; however, they cannot walk on level. ground. Here we present three robots based on passive-dynamics, with small active power sources substituted for gravity, which can walk on level ground. These robots use less control and less energy than other powered robots, yet walk more naturally, further suggesting the importance of passive-dynamics in human locomotion.