| Passive walker that can walk down steps： simulations and experiments |
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| 摘 要： | A planar passive walking model with straight legs and round feet was discussed. This model can walk down steps, both on stairs with even steps and with random steps. Simulations showed that models with small moments of inertia can navigate large height steps. Period-doubling has been observed when the space between steps grows. This period-doubling has been validated by experiments, and the results of experiments were coincident with the simulation.
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| 关 键 词： | 重复周期 模拟试验 非线性动力学 试验研究 |
| 收稿时间： | 20 June 2006 |
Passive walker that can walk down steps: simulations and experiments |
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| Authors: | Ning Liu Junfeng Li Tianshu Wang |
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| Institution: | (1) School of Aerospace, Tsinghua University, Beijing, 100084, China |
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| Abstract: | A planar passive walking model with straight legs and round feet was discussed. This model can walk down steps, both on stairs
with even steps and with random steps. Simulations showed that models with small moments of inertia can navigate large height
steps. Period-doubling has been observed when the space between steps grows. This period-doubling has been validated by experiments,
and the results of experiments were coincident with the simulation. |
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| Keywords: | Passive walking Period-doubling Simulation Experiments Poincaré map Nonlinear dynamics |
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