文章基本信息

标题：System overview and walking dynamics of a passive dynamic walking robot with flat feet:
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作者：Xinyu Liu ; Xizhe Zang ; Yanhe Zhu 等
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2015
卷号：7
期号：12
页码：1-10
DOI：10.1177/1687814015620967
语种：English
出版社：Sage Publications Ltd.
摘要：The concept of ‘‘passive dynamic walking robot’’ refers to the robot that can walk down a shallow slope stably without any actuation and control which shows a limit cycle during walking. By adding actuation at some joints, the passive dynamic walking robot can walk stably on level ground and exhibit more versatile gaits than fully passive robot, namely, the ‘‘limit cycle walker.’’ In this article, we present the mechanical structures and control system design for a passive dynamic walking robot with series elastic actuators at hip joint and ankle joints. We built a walking model that consisted of an upper body, knee joints, and flat feet and derived its walking dynamics that involve double stance phases in a walk?ing cycle based on virtual power principle. The instant just before impact was chosen as the start of one step to reduce the number of independent state variables. A numerical simulation was implemented by using MATLAB, in which the proposed passive dynamic walking model could walk stably down a shallow slope, which proves that the derived walking dynamics are correct. A physical passive robot prototype was built finally, and the experiment results show that by only simple control scheme the passive dynamic robot could walk stably on level ground.
关键词：Passive dynamic walking; biped robot; walking dynamics; mechanical structure; control system; series elastic actuators