{"title":"可控平足被动动态步行器建模与分析","authors":"Hong-Shuai Chen, Yantao Tian, Jianfei Li, Xiaoliang Huang","doi":"10.1109/ICCA.2010.5524345","DOIUrl":null,"url":null,"abstract":"In this paper, we focus on the study of the simple Compass-like biped robot with controlled flat feet which can improve the stability of the dynamic walking under complex road conditions. A hybrid dynamic mathematical model of this biped robot based on the passive dynamic walking is modeled. Particularly, the hip-locked strike is proposed from the bionic perspective. The dynamics and energy efficiency of this kind of biped locomotion are analyzed. Then the energy consumption affected by foot length and slope angle during stable walking is analyzed to obtain the optimum ratio of foot length to leg length. It is proved by simulations that, in certain extent, the walking efficiency is proportional to the length of foot.","PeriodicalId":155562,"journal":{"name":"IEEE ICCA 2010","volume":"197 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Modeling and analysis for passive dynamic walker with controlled flat feet\",\"authors\":\"Hong-Shuai Chen, Yantao Tian, Jianfei Li, Xiaoliang Huang\",\"doi\":\"10.1109/ICCA.2010.5524345\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we focus on the study of the simple Compass-like biped robot with controlled flat feet which can improve the stability of the dynamic walking under complex road conditions. A hybrid dynamic mathematical model of this biped robot based on the passive dynamic walking is modeled. Particularly, the hip-locked strike is proposed from the bionic perspective. The dynamics and energy efficiency of this kind of biped locomotion are analyzed. Then the energy consumption affected by foot length and slope angle during stable walking is analyzed to obtain the optimum ratio of foot length to leg length. It is proved by simulations that, in certain extent, the walking efficiency is proportional to the length of foot.\",\"PeriodicalId\":155562,\"journal\":{\"name\":\"IEEE ICCA 2010\",\"volume\":\"197 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-06-09\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE ICCA 2010\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCA.2010.5524345\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE ICCA 2010","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCA.2010.5524345","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Modeling and analysis for passive dynamic walker with controlled flat feet
In this paper, we focus on the study of the simple Compass-like biped robot with controlled flat feet which can improve the stability of the dynamic walking under complex road conditions. A hybrid dynamic mathematical model of this biped robot based on the passive dynamic walking is modeled. Particularly, the hip-locked strike is proposed from the bionic perspective. The dynamics and energy efficiency of this kind of biped locomotion are analyzed. Then the energy consumption affected by foot length and slope angle during stable walking is analyzed to obtain the optimum ratio of foot length to leg length. It is proved by simulations that, in certain extent, the walking efficiency is proportional to the length of foot.
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