Control of a passive-dynamic-walking-based biped model with semicircular feet for a small stair step
作者： Jun Kanno , Keitaro Naruse
DOI: 10.1007/978-3-642-33503-7_16
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摘要: Because a passive dynamic walking (PDW) robot can walk down shallow slopes using only an initial velocity and gravity, PDW robots are energy efficient. To date, they have been investigated for flat surfaces. This paper extends the environment to include small stair step. Here, we use virtual biped model with semicircular feet. has many advantages over simple model. We analyze relationships between height of step model's torque values, time taken return stable walking. enables us characterize capability
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