Passive walker that can walk down steps: simulations and experiments

被引：9
作者：
Liu, Ning [1 ]
Li, Junfeng [1 ]
Wang, Tianshu [1 ]
机构：
[1] Tsinghua Univ, Sch Aerosp, Beijing 100084, Peoples R China
来源：
ACTA MECHANICA SINICA | 2008年 / 24卷 / 05期
关键词：
Passive walking; Period-doubling; Simulation; Experiments; Poincare map; Nonlinear dynamics;
D O I：
10.1007/s10409-008-0175-9
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A planar passive walking model with straight legs and round feet was discussed. This model can walk down steps, both on stairs with even steps and with random steps. Simulations showed that models with small moments of inertia can navigate large height steps. Period-doubling has been observed when the space between steps grows. This period-doubling has been validated by experiments, and the results of experiments were coincident with the simulation.
引用
收藏
页码：569 / 573
页数：5
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