Local Stability of Flat-Foot Dynamic Bipedal Walking with Compliant   Joints

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	Local Stability of Flat-Foot Dynamic Bipedal Walking with Compliant Joints
	Huang, Yan ; Gao, Yue ; Wang, Qining
	2017
关键词	POSITION DEPENDENCE ROBOT LOCOMOTION ACTUATORS MECHANICS WALKERS DESIGN
英文摘要	In this paper, we investigate the local stability of a flat-foot limit cycle walking model with compliant ankle joints, and analyze the effects of ankle stiffness and foot inertial and geometric parameters on disturbance rejection. These results can provide a further understanding of local behaviors of different phases in one step and guidelines for stiffness control and flat foot design towards stable walking of bipedal robots.; National Natural Science Foundation of China [61005082, 91648207, 61603042]; Beijing Nova Program [Z141101001814001]; 985 Project of Peking University [3J0865600]; CPCI-S(ISTP); 819-824
会议录	IEEE International Conference on Industrial Technology (ICIT)
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/469864]
专题	工学院
推荐引用方式 GB/T 7714	Huang, Yan,Gao, Yue,Wang, Qining. Local Stability of Flat-Foot Dynamic Bipedal Walking with Compliant Joints[C]. 见:.