论文标题
两足机器人的可解决的步行型号
A solvable walking model for a two-legged robot
论文作者
论文摘要
我们提出了一个基于倒置摆的可解决的双头步行模型，该模型具有两个无质量铰接的腿，能够在地板和倾斜的平面上行走。两足机器人的大步是由于站立腿的摆运动和尾腿的铰接运动。由于腿部的交替作用，站立和后腿的交替作用以及摆的能量的守恒，步态是可能的。通过在步幅和每个步幅的适应性之间的过渡中，在两个腿之间施加相同的最大开口角，可以在不平坦的表面和倾斜平面上进行运动。该模型可以以封闭形式解决，并且可以在时间上可逆，对不同类型的双头运动进行建模。已经得出了步态速度作为机器人参数的函数的几个优化结果。
We present a solvable biped walking model based on an inverted pendulum with two massless articulated legs capable of walking on uneven floors and inclined planes. The stride of the two-legged robot results from the pendular motion of a standing leg and the articulated motion of a trailing leg. Gaiting is possible due to the alternating role of the legs, the standing and the trailing leg, and the conservation of energy of the pendular motion. The motion on uneven surfaces and inclined planes is possible by imposing the same maximal opening angle between the two legs in the transition between strides and the adaptability of the time of each stride. This model is solvable in closed form and is reversible in time, modelling the different types of biped motion. Several optimisation results for the speed of gaiting as a function of the robot parameters have been derived.
