足的形状对被动动力步行机器人性能的影响  

The Performance Effect of Foot Shape on Passive Dynamic Walking

作　　者：宫明明[1] 

机构地区：[1]青岛职业技术学院,山东青岛266555

出　　处：《机械工程师》2011年第1期69-71,共3页Mechanical Engineer

摘　　要：研究了双足被动动力步行机器人足的设计问题,及足的形状对运动过程中的能量转换和稳定性的影响。比较了质点型足、直线形足和圆弧形足三种双足机器人在运动过程中能量的变化情况。对机器人模型进行简化后的研究证明:直线性足的机器人与质点型足的机器人相比,在稳定的步行运动中的运动速度更大,而圆弧形足比直线形足又有优越性。数值仿真也验证了机器人模型具有同样的性质。最后给出了足的形状的设计方法。This paper studies an influence of the foot shape on energy-efficiency and stability of passive dynamic walking of a bipedal robot.Three types of bipedal robots are compared in terms of variation of kinetic energy under locomotion.One has point-feet,and another has linear feet and the last has arc feet.Under the simplification of the robot models,it is proved that the robot with linear feet presents larger walking speed in steady walking compared to the point-footed robot.Furthermore,arc feet robot possess of advantage than linear feet robot.It is also verified by numerical simulations that the above claim holds for the model.A design method of foot shape is proposed.

关 键 词：双足机器人 被动动力步行 足 能耗效率 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]