Gait Selection and Transition of Passivity-Based Bipeds with Adaptable   Ankle Stiffness

doi:10.5772/51533

CORC > 北京大学 > 工学院

	Gait Selection and Transition of Passivity-Based Bipeds with Adaptable Ankle Stiffness
	Huang, Yan ; Wang, Qining
刊名	international journal of advanced robotic systems
	2012
关键词	Gait selection gait transition passive dynamic walking humanoid robots joint stiffness SIMPLEST WALKING MODEL DYNAMIC WALKING UPPER-BODY ENERGETIC EFFICIENCY FOOT SHAPE STABILITY ROBOT LOCOMOTION WALKERS SPEED
DOI	10.5772/51533
英文摘要	Stable bipedal walking is one of the most important components of humanoid robot design, which can help us better understand natural human walking. In this paper, to study gait selection and gait transition of efficient bipedal walking, we proposed a dynamic bipedal walking model with an upper body, flat feet and compliant joints. The model can achieve stable cyclic motion with different walking gaits. The hip actuation and ankle stiffness behavior of the model are quite similar to those of human normal walking. In simulation, we studied the influence of hip actuation and ankle stiffness on walking performance of each gait. The effects of ankle stiffness on gait selection are also analyzed. Gait transition is realized by adjusting ankle stiffness during walking.; http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000309961900004&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=8e1609b174ce4e31116a60747a720701 ; Robotics; SCI(E); EI; 2; ARTICLE; 9
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/315951]
专题	工学院
推荐引用方式 GB/T 7714	Huang, Yan,Wang, Qining. Gait Selection and Transition of Passivity-Based Bipeds with Adaptable Ankle Stiffness[J]. international journal of advanced robotic systems,2012.
APA	Huang, Yan,&Wang, Qining.(2012).Gait Selection and Transition of Passivity-Based Bipeds with Adaptable Ankle Stiffness.international journal of advanced robotic systems.
MLA	Huang, Yan,et al."Gait Selection and Transition of Passivity-Based Bipeds with Adaptable Ankle Stiffness".international journal of advanced robotic systems (2012).