基于人体参数的被动步行机器人模型及其运动特性分析

为了深入揭示人类步行机理并为助步设备的研制提供新的思路，从“提高实用性”的角度出发，利用空间算子代数相关理论构建一种基于人体参数的被动步行机器人动力学模型，并对其运动特性进行分析。根据分析报告并结合实际需要，设计了一种仿人程度高的被动步行机器人机械系统模型，结合 ＡＤＡＭＳ软件进行虚拟样机仿真实验。最终结果表明，基于人体参数特性的被动步行机器人具备稳定走下斜坡的能力，将被动力学相关理论应用于助步设备的研制中具有可行性。

Molding of Passive Dynamic Walker Based on Human Parameter and Analysisof its Motion Characteristic

In order to uncover the walking mechanism of human deeply and provide new ideas for the development of walking assisting equipment,this paper will based on practical purpose,and establish a dynamic model of passive dynamic walker based on human parameter by using spatial operator algebra.In addition,it will give the analysis results of movement characteristics.According to the report and combine with the actual requirement,this paper will provide a model about humanoid passive dynamic walker,and carry out virtual prototype simulation experiments by using ADAMS.The results show that,the model of passive dynamic walker based on human parameter has the ability to go down the slope steadily and it is feasible that we can apply the theory about passive dynamic to the study of walking assisting equipment development.