A Passive Dynamic Walking Model Based on Knee-Bend Behaviour: Stability and Adaptability for Walking down Steep Slopes:

[摘要] This paper presents a passive dynamic walking model based on knee-bend behaviour, which is inspired by the way human beings walk. The length and mass parameters of human beings are used in the walking model. The knee-bend mechanism of the stance leg is designed in the phase between knee-strike and heel-strike. q* which is the angular difference of the stance leg between the two events, knee-strike and knee-bend, is adjusted in order to find a stable walking motion. The results show that the stable periodic walking motion on a slope of r <0.4 can be found by adjusting q*. Furthermore, with a particular q* in the range of 0.12

[学科分类] 自动化工程

[关键词] Knee-Bend Behaviour;Passive Dynamics;Biped Locomotion;Robotics