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Biped robots: Correlations between technological design and dynamic behavior
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DOI：10.1016/S0967-0661(98)00165-8.png)
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摘要
En 中文
The authors of the paper have collaborated in a joint project involving four French control, mechanics and computer-science laboratories. In the paper, various mechanical architectures of biped robots are examined in detail, showing that their walking capabilities are closely linked to the kinematic characteristics of the mechanical structure. Then, it is shown that the geometrical and inertial parameters of the mechanical systems strongly affect the gait. In particular, the influence of the biped inertia on the lateral stability of the system, as well as the conditions of the existence of passive pendular gaits during the swing phase, are computationally analyzed. Extending the ideas previously developed, some characteristics of the mechanical architecture and design of the BIP project can be clearly justified. It turns out that a kinematic structure with 15 degrees of freedom is necessary in order for the biped robot to develop anthropomorphic gaits. Furthermore, as an anthropometric mass distribution can improve the walking abilities of the robot, special transmitters have been designed in order to help to fulfil this requirement. (C) 1999 Elsevier Science Ltd. All rights reserved.
Keyword:
biped robots
dynamics of walking
equilibrium
natural walking
mechanical design
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