We present a solvable biped walking model based on an inverted pendulum with two massless articulated legs capable of walking on uneven floors and inclined planes. The stride of the two-legged robot results from the pendular motion of a standing leg and the articulated motion of a trailing leg. Gaiting is possible due to the alternating role of the legs, the standing and the trailing leg, and the conservation of energy of the pendular motion. The motion on uneven surfaces and inclined planes is possible by imposing the same maximal opening angle between the two legs in the transition between strides and the adaptability of the time of each stride. This model is solvable in closed form and is reversible in time, modelling the different types of biped motion. Several optimisation results for the speed of gaiting as a function of the robot parameters have been derived.
翻译:我们展示了一个可以溶解的双腿行走模型,它以倒置的钟摆为基础,有两条无大块的清晰腿,能够在不均匀的地板和倾斜的平面上行走。两条腿机器人的步态是站立腿的侧形运动和行足腿的伸缩运动。由于双腿的交替作用、立脚和尾脚以及支流运动的节能,投射是可能的。在不均匀的表面和倾斜的平面上运动,可以通过在两条腿之间跨过大步和每步时间的可适应性之间施加相同的最大开关角。这一模型以封闭的形式可以溶解,在时间上可以反转,为不同类型的双腿运动建模。在机器人参数的函数作用下,已经得出了数种竞拍速度的优化结果。