Biped robots: correlations between technological design and dynamic behavior

摘要

The authors of this study are a part of a joint project, involving four French mechanics, control and computer-science laboratories, whose common goal is the construction of a mechanical biped robot with anthropomorphic characteristics. Motivations of this project, named BIP, are exposed in (Espiau 97). In the first section of this paper, will be examined mechanical architecutres of some biped robots as well as thier gaits. These gaits are closely linked to the intrinsic dynamic characteristics of the mechanical structures. In this second section, the influence of geometry on the lateral stability of the system will be studied. The conditions of existence of passive pendular gaits during the swing phase will be seeked for. In the last section, will be justified some characteristics of the mechanical architecture of the biped designed for the BIP project: 15 degrees of freddom, joints actuated by transmitters with high reversibility, anthropometric mass distribution.