摘要
This paper investigates three-dimensional quasipassive dynamic bipedal walking on level ground with flat feet and compliant ankles. We present pointmass dynamic models to analyze and tune the characteristics of the bipedal gait. Simulations are carried out to study the effects of flat feet and ankle stiffness on the stability in both sagittal plane and frontal plane. Based on the theoretical analysis, we construct a robot prototype driven by hip actuation. The implementing of flat feet and coordination of ankle complex allow the prototype to walk on natural ground.
| 源语言 | 英语 |
|---|---|
| 主期刊名 | Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 |
| 出版商 | Institute of Electrical and Electronics Engineers Inc. |
| 页 | 8200-8205 |
| 页数 | 6 |
| ISBN（印刷版） | 9781424438716 |
| DOI | |
| 出版状态 | 已出版 - 2009 |
| 已对外发布 | 是 |
| 活动 | 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, 中国 期限: 15 12月 2009 → 18 12月 2009 |
出版系列
| 姓名 | Proceedings of the IEEE Conference on Decision and Control |
|---|---|
| ISSN（印刷版） | 0743-1546 |
| ISSN（电子版） | 2576-2370 |
会议
| 会议 | 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 |
|---|---|
| 国家/地区 | 中国 |
| 市 | Shanghai |
| 时期 | 15/12/09 → 18/12/09 |
指纹
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Wang, Q., Wang, L., Huang, Y., Zhu, J., & Chen, W. (2009). Three-dimensional quasi-passive dynamic bipedal walking with flat feet and compliant ankles. 在 Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (页码 8200-8205). 文章 5399656 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2009.5399656