摘要
介绍了被动步行机器人工作原理,并针对其稳定性能较差的缺点对稳定性判别及抗扰动能力计算通常采用的方法进行综述,归纳出从生物力学研究成果中获取灵感以提高其稳定性能的方法。
The working principle of the passive dynamic walker is presented at first. Then this paper presents a review focusing on research of the stability discrimination and disturbance rejection analysis. A t last some effective ways inspired from biomechanics to improve stability are presented.
出处
《机械设计与制造》
北大核心
2008年第7期166-168,共3页
Machinery Design & Manufacture
关键词
被动步行
稳定性
吸引盆
Passive dynamic walker
Stability
Basin of attraction
