| 被动动力步行机器人关键问题研究 |
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| 引用本文： | 宫明明,朱卫斌,李峰.被动动力步行机器人关键问题研究[J].机械工程师,2006(8):106-108. |
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| 作者姓名： | 宫明明 朱卫斌 李峰 |
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| 作者单位： | 1. 青岛职业技术学院,山东,青岛,266555
2. 青岛科技大学,山东,青岛,266061 |
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| 摘 要： | 自治双足步行机器人通常用于展示和娱乐的目的,相对于“被动动力步行”而言,其能量效率比较低。文中通过Garcia的被动动力步行机器人模型引入了“被动动力步行”的概念,并对被动动力步行机器人研究中的仿生学原理、步态周期分岔和控制策略等几个关键问题进行了说明。
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| 关 键 词： | 双足 被动动力步行 仿生学 多体系统 分岔 |
| 文章编号： | 1002-2333(2006)08-0106-03 |
| 收稿时间： | 2006-02-15 |
| 修稿时间： | 2006年2月15日 |
Key Research Point of Passive Dynamic Walking |
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| GONG Ming-ming,ZHU Wei-bin,LI Feng.Key Research Point of Passive Dynamic Walking[J].Mechanical Engineer,2006(8):106-108. |
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| Authors: | GONG Ming-ming ZHU Wei-bin LI Feng |
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| Affiliation: | 1.Qingdao Vocational and Technical College,Qingdao 266555 ,China; 2.Qingdao University of Science and Technology, Qingdao 266062, China |
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| Abstract: | Autonomous walking bipedal machines,possibly useful for rehabilitation and entertainment purposes,need a high energy efficiency,offered by the concept of 'Passive Dynamic Walking'(exploitation of the natural dynamics of the robot).In this article a 2D passive dynamic bipeds of Garcia's model which was reproduced from McGeer has been introduced to illustrate the theory of passive dynamic.Following with the explanation of some of the key research point involved in Passive Dynamic Walking,such as bionics of Passive Dynamic Walking,bifurcation of gait and control strategy. |
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| Keywords: | biped passive dynamic walling bionics multi-body system bifurcation |
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