Stabilization of lateral motion in passive dynamic walking
Stabilization of lateral motion in passive dynamic walking
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DOI：
10.1177/02783649922066655
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发表时间：
1999-09-01
影响因子：
9.2
通讯作者：
Kuo, AD
中科院分区：
文献类型：
--
作者：
Kuo, AD
被动动态行走是指无需外部控制或能量输入就能沿着缓坡行走的双足机器。腿像钟摆一样自然摆动，角动量守恒控制着摆动脚与地面的接触。以前的机器仅限于平面运动。我们扩展平面运动以允许左右倾斜（滚动运动）。存在被动步行循环，但滚动运动不稳定，类似于倒立摆。不稳定是由于滚动速度与地面接触条件不匹配造成的。提出了几种稳定该运动的策略，其中步宽的准静态控制被确定为既简单又有效。
Passive dynamic walking refers to a class of bipedal machines that are able to walk down a gentle slope with no external control or energy input. The legs swing naturally as pendula, and conservation of angular momentum governs the contact of the swing foot with the ground Previous machines have been limited to planar motions. We extend the planar motions to allow for tilting side to side (roll motion). Passive walking cycles exist, but the roll motion is unstable, resembling that of an inverted pendulum. The instability is due to mismatching of roll velocity with the ground contact conditions. Several strategies are presented for stabilizing this motion, of which the quasi-static control of step width is determined to be both simple and efficient.