{"title":"髋关节驱动的被动动态行走双足动物","authors":"R. Stopforth, G. Bright, Chun-tsung Feng","doi":"10.1109/EUROCON.2013.6625238","DOIUrl":null,"url":null,"abstract":"This paper presents the design and experimental results of a passive dynamic based biped. The design of the biped was such that its features were anthropomorphic with respect to locomotion. A robot, consisting of only the lower body (hip to feet), was capable of walking passively or actively. During experimentation, the biped successfully walked down an inclined ramp with minimal aid. Real time data acquisitions were performed to capture the results, and the experimental data of the walking trajectories were analysed and verified against simulations. It was found that the constructed biped exhibits the same walking trend as the derived theoretical model.","PeriodicalId":136720,"journal":{"name":"Eurocon 2013","volume":"17 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A hip actuated passive dynamic walking biped\",\"authors\":\"R. Stopforth, G. Bright, Chun-tsung Feng\",\"doi\":\"10.1109/EUROCON.2013.6625238\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents the design and experimental results of a passive dynamic based biped. The design of the biped was such that its features were anthropomorphic with respect to locomotion. A robot, consisting of only the lower body (hip to feet), was capable of walking passively or actively. During experimentation, the biped successfully walked down an inclined ramp with minimal aid. Real time data acquisitions were performed to capture the results, and the experimental data of the walking trajectories were analysed and verified against simulations. It was found that the constructed biped exhibits the same walking trend as the derived theoretical model.\",\"PeriodicalId\":136720,\"journal\":{\"name\":\"Eurocon 2013\",\"volume\":\"17 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Eurocon 2013\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/EUROCON.2013.6625238\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Eurocon 2013","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/EUROCON.2013.6625238","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
This paper presents the design and experimental results of a passive dynamic based biped. The design of the biped was such that its features were anthropomorphic with respect to locomotion. A robot, consisting of only the lower body (hip to feet), was capable of walking passively or actively. During experimentation, the biped successfully walked down an inclined ramp with minimal aid. Real time data acquisitions were performed to capture the results, and the experimental data of the walking trajectories were analysed and verified against simulations. It was found that the constructed biped exhibits the same walking trend as the derived theoretical model.