Passive dynamic model for walking down stairs
This paper presents a passive dynamic walking model that can walk down stairs.Knee-bend mechanism which is inspired from the pattern of humans walking down stairs is designed in the walking model.The stance knee is designed to be bent between knee-strike and heel-strike.The bending time of the stance leg after knee-strike is adjusted to adapt to the stair height.By traversing the bending time of the stance leg,the stable walking motion with a certain stair height could be found.The force at the stance foot and the eigenvalues of the Jacobian are analyzed to verify the walking motion.The results show that the periodic walking motion is stable when the stair height is less than 0.11.Furthermore,the features of the walking motion with different stair height are discussed.
Biped locomotion Passive dynamic walking Knee-bend Stair
Kang An Qijun Chen
Robotics and Intelligent System Laboratory, Tongji University, Shanghai 201804
国际会议
the 25th Chinese Control and Decision Conference(第25届中国控制与决策会议)
贵阳
英文
3166-3172
2013-05-01（万方平台首次上网日期，不代表论文的发表时间）