摘要
Walkingwithoutimpactshasbeenconsideredindynamicsasamotion/forcecontrolproblem.Inordertoavoidimpacts,anapproachforboththespecifiedmotionofthebipedanditsgroundreactionforceswaspresentedyieldingacombinedmotionandforcecontrolproblem.Asanapplication,awalkeronahorizontalplanehasbeenconsidered.Inthispaper,itisshownhowthecontrolofthegroundreactionforcesandtheenergyconsumptiondependonthegradientofaslope.Thebipeddynamicsandtheconstraintswithinthebipedsystemandonthegroundarediscussed.Amotioncontrolsynthesisisdevelopedusingtheinversedynamicsprincipleproventobemostefficientforhumanwalkingresearch,too.Theimpactlesswalkingwithcontrolledlegsisillustratedbyaseven-linkbiped.The'flying'bipedhasninedegreesoffreedom,withsixcontrolinputs.Duringlocomotion,thestandingleghasthreescleronomicconstraints,andthetrunkhasthreerheonomicconstraints.However,therearethreerheonomicconstraintsfortheprescribedlegmotionorthreescleronomicconstraintsforreactionforcesofthetrailingleg,respectively.Thenominalcontrolactionforimpactlesswalkingcanbeprecomputedandstored.Themodelproposedallowstheinvestigationofseveralproblems:uphillanddownhillwalking,optimizationofsteplength,stictionofthefeetontheslopeandmanymore.Allthesefindingsarealsoofinterestinbiomechanics.更多还原
出版日期
2013年01月11日（中国Betway体育网页登陆平台首次上网日期，不代表论文的发表时间）
