The mechanics of biped running and a stable control strategy

被引：3

作者：

Abdallah, Muhammad E. ^{[1
]}

Waldron, Kenneth J. ^{[2
]}

机构：

[1] General Motors Res, Warren, MI 48090 USA

[2] Stanford Univ, Stanford, CA 94305 USA

来源：

ROBOTICA | 2009年 / 27卷

基金：

美国国家科学基金会;

关键词：

Biped robots; Running; Dynamics; Controls; Biomechanics; HOPPING ROBOT; STIFFNESS; PLANAR; SPEED;

D O I：

10.1017/S0263574708005134

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This work presents an analysis of the mechanics of biped running with a heuristic control strategy for stable running. A tractable model of the mechanics is presented through principles, measures, and a time-distributed perspective. This model motivates the control strategy and provides a basis for extending the strategy to more general systems. The control strategy consists of a simple set of four rules, where the key rule considers the leg length upon liftoff. The Steady-State Index is proposed as a characterization of biped running. It identifies and relates the parameters affecting running and has broad applicability to both biological and robotic systems.

引用

页码：789 / 799

页数：11

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