The experimental study on the contact process of passive walking

作     者：Feng Qi Lai-Ye Bi Tian-Shu Wang Jun-Feng Li 

作者机构：Tsinghua University100084 BeijingChina 

出 版 物：《Acta Mechanica Sinica》 (力学学报（英文版）)

年 卷 期：2012年第28卷第4期

页      面：1163-1168页

核心收录：

学科分类：02[经济学] 07[理学] 08[工学] 070103[理学-概率论与数理统计] 0810[工学-信息与通信工程] 0202[经济学-应用经济学] 020208[经济学-统计学] 080401[工学-精密仪器及机械] 0804[工学-仪器科学与技术] 080402[工学-测试计量技术及仪器] 0802[工学-机械工程] 0714[理学-统计学（可授理学、经济学学位）] 0835[工学-软件工程] 081002[工学-信号与信息处理] 0701[理学-数学] 0801[工学-力学（可授工学、理学学位）] 

基　　金：supported by the National Natural Science Foundation of China(11102006) 

主　　题：Passive walking Experiment prototype Contact. Sensors 

摘      要：The passive dynamic walking is a new concept of biped walking. Researchers have been working on this area with both theoretical analysis and experimental analysis ever since McGeer. This paper presents our compass-like pas- sive walking model with a new set of testing system. Two gyroscopes are used for measuring the angles of two legs, and ten FlexiForce sensors are used for measuring the con- tact forces on the feet. We got the experimental data on the passive walking process with the validated testing system. A great emphasis was put on the contact process between the feet and the slope. The contact process of the stance leg was divided into four sections, and differences between the real testing contact process and the classic analytical contact process with no bouncing and slipping were summarized