中南大学学报（自然科学版）2011，Vol.42Issue(4)：1028-1034,7.
一种由人类步行启发的半被动双足步行机器人
A quasi-passive dynamic walker inspired by human walking
摘要
Abstract
Since the present control methods for quasi-passive dynamic walkers are complex, and few quantitative study of the control parameters on the performance of quasi-passive dynamic walkers has been done, inspired by biomechanics in human walking, a control method for the quasi-passive dynamic walker and quantitative control parameters on the performance of the quasi-passive dynamic walker were studied. After the impact between swing leg and ground, a torque of square wave was applied at the hip as power supply. The gait sensitivity norm was used to quantify the stability, and the dimensionless cost of transport was used to quantify the walking efficiency. Stability, efficiency and velocity were used as three performance criteria. The effects of the amplitude of torque, the application time of torque and slope angle on the performance criteria were obtained by simulations. Since the torque does not do negative work during the whole walking period, the walker has a high efficiency as human walking. The robot can walk up a slope, walk down a slope and walk on flat ground.关键词
半被动步行/机器人/稳定性/效率/速度Key words
quasi-passive dynamic walking/ robot/ stability/ efficiency/ velocity分类
信息技术与安全科学引用本文复制引用
倪修华,陈维山,刘军考,石胜君..一种由人类步行启发的半被动双足步行机器人[J].中南大学学报（自然科学版）,2011,42(4):1028-1034,7.基金项目
国家自然科学基金资助项目(59705011) （59705011）
