Passive Dynamic Walking with Elastic Energy
نویسندگان
چکیده
منابع مشابه
From Passive Dynamic Walking to Passive Turning of Biped walker
Dynamically stable biped robots mimicking human locomotion have received significant attention over the last few decades. Formerly, the existence of stable periodic gaits for straight walking of passive biped walkers was well known and investigated as the notion of passive dynamic walking. This study is aimed to elaborate this notion in the case of three dimensional (3D) walking and extend it f...
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Bipedal walking has been demonstrated through physical and computer simulations by McGeer [1] to be possible without actuation or control within a range of shallow slopes. Results from such passive dynamic walkers have led many researchers to believe the mechanics of walking should be understood, in addition to the activation and control issues, for biped locomotion to be realized. Recent work ...
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There exists a class of two-legged machines for which walking is a natural dynamic mode: Once started on a shallow slope, such a machine will settle into a steady gait quite comparable to human walking, without active control or energy input. Interpretation and analysis of the underlying physics is straighgorward; the walking cycle, its stability, and sensitivity to parameter variations are eas...
متن کاملPassive dynamic walking model with upper body
This paper presents the simplest walking model with an upper body. The model is a passive dynamic walker, i.e. it walks down a slope without motor input or control. The upper body is confined to the midway angle of the two legs. With this kinematic constraint, the model has only two degrees of freedom. The model achieves surprisingly successful walking results: it can handle disturbances of 8% ...
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ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 2007
ISSN: 0453-4654
DOI: 10.9746/ve.sicetr1965.43.998