摘要
The passive dynamic walking is a new concept of biped walking. Researchers have been working on this area with both theoretical analysis and experimental analysis ever since McGeer. This paper presents our compass-like pas- sive walking model with a new set of testing system. Two gyroscopes are used for measuring the angles of two legs, and ten FlexiForce sensors are used for measuring the con- tact forces on the feet. We got the experimental data on the passive walking process with the validated testing system. A great emphasis was put on the contact process between the feet and the slope. The contact process of the stance leg was divided into four sections, and differences between the real testing contact process and the classic analytical contact process with no bouncing and slipping were summarized
The passive dynamic walking is a new concept of biped walking. Researchers have been working on this area with both theoretical analysis and experimental analysis ever since McGeer. This paper presents our compass-like pas- sive walking model with a new set of testing system. Two gyroscopes are used for measuring the angles of two legs, and ten FlexiForce sensors are used for measuring the con- tact forces on the feet. We got the experimental data on the passive walking process with the validated testing system. A great emphasis was put on the contact process between the feet and the slope. The contact process of the stance leg was divided into four sections, and differences between the real testing contact process and the classic analytical contact process with no bouncing and slipping were summarized
基金
supported by the National Natural Science Foundation of China(11102006)
