A physical principle of gait generation and its stabilization derived from mechanism of fixed point

被引：28
|
作者：
Ikemata, Yoshito [1 ]
Sano, Akihito [1 ]
Fujimoto, Hideo [1 ]
机构：
[1] Nagoya Inst Technol, Dept Mech Engn, Nagoya, Aichi 4668555, Japan
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年
关键词：
passive walking; fixed point; global stability; inter-leg angle;
D O I：
10.1109/ROBOT.2006.1641813
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Passive walker with knees can walk down shallow slope in a natural gait and can exhibit a stable limit cycle. Though the passive walker is mechanically simple, it is a sort of hybrid system that combines the continuous dynamics of leg-swing motion and the discrete event of leg-exchange. In this paper, we focus on the mechanism of fixed point. We demonstrate a physical principle of gait generation and its stabilization derived from the mechanism of fixed point. Based on the principle, we made a simple improvement on passive walker with knees. The passive walker could have high stability, and could walk on treadmill for 4010 steps.
引用
收藏
页码：836 / +
页数：2
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