Passive Dynamic Walking

International Journal of Robotics Research - Tập 9 Số 2 - Trang 62-82 - 1990
Tad McGeer1
1School of Engineering Science, Simon Fraser University, Burnaby, British Columbia, Canada V5A 1S6

Tóm tắt

There exists a class of two-legged machines for which walking is a natural dynamic mode. Once started on a shallow slope, a machine of this class will settle into a steady gait quite comparable to human walking, without active control or en ergy input. Interpretation and analysis of the physics are straightforward; the walking cycle, its stability, and its sensi tivity to parameter variations are easily calculated. Experi ments with a test machine verify that the passive walking effect can be readily exploited in practice. The dynamics are most clearly demonstrated by a machine powered only by gravity, but they can be combined easily with active energy input to produce efficient and dextrous walking over a broad range of terrain.

Từ khóa


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Thông tin
Thông tin xuất bản

International Journal of Robotics Research

Tập 9 Số 2

62-82

Thông tin tác giả