具有屈膝行为的双足被动行走模型  

Passive dynamic walking model with knee-bend behavior

作　　者：安康[1] 陈启军[1] 

机构地区：[1]同济大学机器人与智能系统实验室,上海201804

出　　处：《控制理论与应用》2013年第3期346-354,共9页Control Theory & Applications

基　　金：国家自然科学基金资助项目(61203344);中日政府国际合作项目(2010DFA12210);上海市科技人才计划资助项目(11XD1404800);上海市科委基础研究重点项目(12JC1408800)

摘　　要：参考人类下坡行走运动特点,提出一种具有屈膝行为的双足被动行走模型.采用5质点4杆被动行走模型,设计支撑腿在行走过程中弯曲,通过对支撑腿膝关节弯曲时刻的调整,求解得到模型在不同斜面上的稳定周期行走步态.仿真结果表明,模型实现了在坡度范围小于0.39rad的斜面上稳定行走步态.与传统步态相比,稳定行走的坡度范围显著提高,在较大坡度上也具有很好的稳定性.With the inspiration from human walking pattern during going down slope, we developed a passive dynamic walking model with particular knee-bend behavior. A five-mass-point and four-stick model is used, and the knee-bend mechanism is designed in the phase from knee-strike event to heel-strike event in one walking cycle. The stable periodic walking motion on the slope with different slope angle is found by means of adjusting the bending time of the stance knee. The simulation results show that the walking motion is stable on the slope of 3＇ 〈 0.39 rad. Compared with conventional walking gait, the proposed gait can achieve stable walking motion with a much wider range of slope angle.

关 键 词：屈膝行为 被动动力学行走 双足运动 机器人学 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]