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	Energetic efficiency and stability of dynamic bipedal walking gaits with different step lengths
	Huang, Yan ; Chen, Baojun ; Wang, Qining ; Wei, Kunlin ; Wang, Long
	2010
关键词	MODEL
DOI	10.1109/IROS.2010.5650421
英文摘要	This paper presents a seven-link dynamic walking model that is more close to human beings. We add hip actuation, upper body, flat feet and compliant ankle joints to the model. Walking sequence of the flat-foot walker has several sub-streams that form bipedal walking with dynamic series of phases, which is different with the motion of round-foot and point-foot models. We investigate the characteristics of three different walking gaits with different step lengths. Comparison of these walking gaits in walking velocity, efficiency and stability reveals the relation between step length and walking performance. Experimental results indicate that the gait which is more close to human normal walking achieves higher stability and energetic efficiency.; http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000287672001148&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=8e1609b174ce4e31116a60747a720701 ; Computer Science, Artificial Intelligence; Computer Science, Information Systems; Robotics; EI; CPCI-S(ISTP); 10
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/316452]
专题	工学院
推荐引用方式 GB/T 7714	Huang, Yan,Chen, Baojun,Wang, Qining,et al. Energetic efficiency and stability of dynamic bipedal walking gaits with different step lengths[C]. 见:.

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