被动动力步行机器人关键问题研究

Key Research Point of Passive Dynamic Walking

自治双足步行机器人通常用于展示和娱乐的目的,相对于“被动动力步行”而言,其能量效率比较低。文中通过Garcia的被动动力步行机器人模型引入了“被动动力步行”的概念,并对被动动力步行机器人研究中的仿生学原理、步态周期分岔和控制策略等几个关键问题进行了说明。

Autonomous walking bipedal machines, possibly useful for rehabilitation and entertainment purposes, need a high energy efficiency, offered by the concept of ＇Passive Dynamic Walking＇ （exploitation of the natural dynamics of the robot）. In this article a 2D passive dynamic bipeds of Garcia＇s model which was reproduced from McGeer has been introduced to illustrate the theory of passive dynamic. Following with the explanation of some of the key research point involved in Passive Dynamic Walking, such as bionics of Passive Dynamic Walking, bifurcation of gait and control strategy.