文件名称：A Three-Dimensional Passive-Dynamic Walking Robot with Two Legs and Knees
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更新时间：2022-05-20 09:55:24
biped roboti passiv
The authors have built the first 3D, kneed, two-legged passive-dynamic walking machine. Since the work of T. McGeer (1990, 1991), the concept of passive dynamics has added insight into animal locomotion and the design of anthropomorphic robots. Various analyses and machines that demonstrate efficient humanlike walking have been developed using this strategy. Human-like passive machines, however have only operated in two dimensions (i.e. within the fore-aft or sagittal plane). 3D passive walking devices, mostly toys, have not had human-like motions but instead a stiff-legged waddle. In the present 3D device, the authors preserve features of McGeer's 2D models, including mechanical simplicity, human-like knee flexure and passive gravitational power from descending a shallow slope. They then add specially curved feet, a compliant heel and mechanically constrained arms to achieve a harmonious and stable gait. The device stands 85 cm tall. It weighs 4.8 kg, walks at about 0.51 m/s down a 3.1 degrees slope and consumes 1.3 W. This robot further implicates passive dynamics in human walking and may help point the way toward simple and efficient robots with human-like motions. (17 References).