Ankle actuation for three-dimensional limit cycle walkers in lateral balance

作者：Wang Qining^*; Chen Wei; Wang Long

来源：12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009, 2009-09-09 to 2009-09-11.

• Ankle actuation
• Ankle stiffness
• Bipeds
• Limit cycle walkings
• Mechanical parameters
• Passive Dynamic Walking
• Passive stiffness
• Physical robots

This paper presents a frontal model for the limit cycle walker which consists of upper body, flat foot and ankle stiffness, to investigate the stability of a 3-D biped by applying passive stiffness and torque in ankle joints in frontal plane to stabilize lateral motion. We compare the effects of mechanical parameters and four types of ankle actuation on lateral balance through numerical simulations. The analysis results can help the design of more stable physical robots based on limit cycle walking.

• 出版日期2010
• 单位北京大学