Passive walker that can walk down steps: simulations and experiments

• 来源期刊: 力学学报(英文版)
• 年，卷（期）: 2008,（5）
• 页码范围: 569-573
• 页数: 5页
• 语种: 英文
• DOI: 10.1007/s10409-008-0175-9

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 iner-tia 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.