Passive walker that can walk down steps:simulations and experiments  

作　　者：Ning Liu Junfeng Li Tianshu Wang 

机构地区：[1]School of Aerospace, Tsinghua University,Beijing 100084, China

出　　处：《Acta Mechanica Sinica》2008年第5期569-573,共5页力学学报（英文版）

摘　　要：A planar passive walking model with straight legs and round feet was discussed. This model can walk down steps, both on stairs with even steps and with random steps. Simulations showed that models with small moments of inertia can navigate large height steps. Period-doubling has been observed when the space between steps grows. This period-doubling has been validated by experiments, and the results of experiments were coincident with the simulation.A planar passive walking model with straight legs and round feet was discussed. This model can walk down steps, both on stairs with even steps and with random steps. Simulations showed that models with small moments of inertia can navigate large height steps. Period-doubling has been observed when the space between steps grows. This period-doubling has been validated by experiments, and the results of experiments were coincident with the simulation.

关 键 词：Passive walking Period-doubling  Simulation - Experiments Poincaré map  Nonlinear dynamics 

分 类 号：O313[理学—一般力学与力学基础]