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

页码：836 / +

页数：2

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