双足被动步行研究综述_毛勇.pdfVIP

　 29 3 机器人　ROBOT Vo.l 29, No. 3 　2007 5 　M ay, 2　00　7 :1002-0446(2007)03-0274-07 * 毛勇, 王家廞, 贾培发, 韩 灼 (, 　100084) 　:, , 、, . :;;;; :　TP24　　　　:　A P assive D ynam ic B iped W alking:A Survey MAO Yong, WANG Jia-xin, JIA Pe-i fa, HAN Zh o (S ta te K ey L abora tory of In telligen t Technolog y and Sy stem s, D epa rmt en t of Comp uter S cience and Techno logy, Tsinghua Un iv ersity, B eij ing 100084, Ch ina ) 　Abstrac:t This paper s rveys the c rrent stat s and characteristics of passive dynam icwalk ing. Them echanical str ct res and driving system designs of several passive w alking robots are given. The research m ethods for the stability, energy eff-i ciency and con trol scheme of passive bipeds are overviewed. To concl de, this paper points o t the main diffic lties and the f t re works in th is field. 　K eyword s:energetics;stab ility;control schem e;passive dynam ic w alking;b iped robot 1　(Introduction) ,. M cGeer , , [1] , . [2] ZMP(zero moment point) . , . [3] . “QRIO ” “A s-i [4, 5] , mo” , 、