پديدآورندگان :
Moradi Ali MSc. Student, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran , Sabaapour Mohammad Reza Postdoctoral Researcher, School of Integrated Technology, Gwangju Institute of Science and Technology, South Korea , Beigzadeh Borhan b_beigzadeh@iust.ac.ir Assistant Professor, Biomechatronics and Cognitive Engineering Research Lab, School of Mechanical Engineering, Iran University of Science and Technology, Iran; , Hairi Yazdi Mohammad Reza Professor, School of Mechanical Engineering, University of Tehran, Tehran, Iran
كليدواژه :
Biped robot , passive walker , 3D walking , Asymptotical stability , Compass like model
چكيده فارسي :
Passive biped walkers who walk naturally on a slope surface without any control input, just due to gravity, are very popular nowadays. Actually, they are an excellent platform to explore dynamically stable biped robots controlled based on the passive dynamic walking concept. In this research, a novel 3D passive biped walker with compliant ankle and flat foot has been designed and manufactured. It is a straight-legged compass-like biped model having four Degrees-of-Freedom (DOF) in the spatial space totally; three DOFs related to the ankle joint (pitch-rollyaw) and one DOF related to the hip joint (relative pitch of two legs with respect to each other). Some experiment has been also conducted to verify the design. The walker successfully exhibits several asymptotically stable periodic gait cycles on a gentle slope ramp resembles to human walking. The experimental results show a rational sensitivity of the walker to the initial position and velocity parameters that should be adjusted carefully.
