Biped Walking by Elastic Potential Energy and Control Strategy

摘要：

　　Based on passive dynamic walking,we proposed a simple biped walking method on level ground by using elastic potential energy.To explain its working principle,the process of energy compensation is analyzed.The influences of different time delay control on the gait,walking performance,energy efficiency and stability of the model are studied by numerical simulation.Results shows that this walking method preserves the gait evolution character of passive dynamic walking and the control strategy with small time delay can improve the walking speed,while with large time delay it can improve the convergence speed from little disturbance.This research provides theoretical guidance to improve the walking performance and the robustness of the biped walking robot in practice.

关键词： Biped walking Elastic potential energy Gait evolution Control strategy

作者: WU Botao ZHAO Mingguo

作者单位: Department of Automation,Tsinghua University,Beijing 100084,P.R.China;China Satellite Maritime Track Department of Automation,Tsinghua University,Beijing 100084,P.R.China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 7994-7999

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）