Exploiting natural dynamics in the control of a three-dimensional bipedal walking simulation

被引:0
|
作者
Pratt, JE [1 ]
Pratt, GA [1 ]
机构
[1] MIT, Leg Lab, Cambridge, MA 02139 USA
来源
PROCEEDINGS OF THE 2ND INTERNATIONAL CONFERENCE ON CLIMBING AND WALKING ROBOTS, CLAWAR 99 | 1999年
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D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Natural dynamics can be exploited in the control of bipedal walking robots: the swing leg can swing passively; a kneecap can prevent the leg from inverting; and a compliant ankle can naturally transfer the center of pressure along the foot and help in toe off. These mechanisms simplify control and result in motion that is smooth and natural looking. We describe a computationally efficient algorithm which exploits these natural mechanisms. This algorithm is an extension to one for planar walking [16]. Lateral stability is controlled via foot placement and ankle torque. We present results for a seven link, twelve degree of freedom, biped simulation which walks on flat ground.
引用
收藏
页码:797 / 807
页数:11
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