Efficient bipedal robots based on passive-dynamic walkers

被引：1293

作者：

Collins, S

Ruina, A ^{[1
]}

Tedrake, R

Wisse, M

机构：

[1] Cornell Univ, Ithaca, NY 14853 USA

[2] Univ Michigan, Ann Arbor, MI 48104 USA

[3] MIT, Ctr Bits & Atoms, Cambridge, MA 02139 USA

[4] Delft Univ Technol, NL-2628 CD Delft, Netherlands

来源：

SCIENCE | 2005年 / 307卷 / 5712期

关键词：

D O I：

10.1126/science.1107799

中图分类号：

O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];

学科分类号：

07 ; 0710 ; 09 ;

摘要：

Passive-dynamic walkers are simple mechanical devices, composed of solid parts connected by joints, that walk stably down a slope. They have no motors or controllers, yet can have remarkably humanlike motions. This suggests that these machines are useful models of human locomotion; however, they cannot walk on level. ground. Here we present three robots based on passive-dynamics, with small active power sources substituted for gravity, which can walk on level ground. These robots use less control and less energy than other powered robots, yet walk more naturally, further suggesting the importance of passive-dynamics in human locomotion.

引用

页码：1082 / 1085

页数：4

共 25 条

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