Modeling and gait selection of passivity-based seven-link bipeds with   dynamic series of walking phases

doi:10.1017/S0263574711000397

CORC > 北京大学 > 工学院

	Modeling and gait selection of passivity-based seven-link bipeds with dynamic series of walking phases
	Huang, Yan ; Wang, Qining ; Chen, Baojun ; Xie, Guangming ; Wang, Long
刊名	robotica
	2012
关键词	Passive dynamic walking Bipeds Gait selection Ankle stiffness Dynamic walking phases ANKLE JOINT DYNAMICS UPPER-BODY POSITION DEPENDENCE LEG BEHAVIOR FOOT SHAPE STABILITY ROBOT LOCOMOTION ACTUATION STIFFNESS
DOI	10.1017/S0263574711000397
英文摘要	This paper presents a seven-link dynamic walking model that is more close to human beings than other passivity-based dynamic walking models. We add hip actuation, upper body, flat feet, and ankle joints with torsional springs to the model. Walking sequence of flat-feet walkers has several substreams, which forms bipedal walking with dynamic series of phases. We investigate the effects of ankle stiffness on gait selection and evaluate different gaits in walking velocity, efficiency, and stability. Experimental results indicate that ankle stiffness plays different roles in different gaits and the gaits, which are more close to human walking with moderate speed, achieve better motion characteristics.; http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000298547700004&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=8e1609b174ce4e31116a60747a720701 ; Robotics; SCI(E); EI; 8; ARTICLE; 1; 39-51; 30
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/316007]
专题	工学院
推荐引用方式 GB/T 7714	Huang, Yan,Wang, Qining,Chen, Baojun,et al. Modeling and gait selection of passivity-based seven-link bipeds with dynamic series of walking phases[J]. robotica,2012.
APA	Huang, Yan,Wang, Qining,Chen, Baojun,Xie, Guangming,&Wang, Long.(2012).Modeling and gait selection of passivity-based seven-link bipeds with dynamic series of walking phases.robotica.
MLA	Huang, Yan,et al."Modeling and gait selection of passivity-based seven-link bipeds with dynamic series of walking phases".robotica (2012).