改进行走模型，加入类人踝关节，提升步态稳定性。
Incorporating Human-Inspired Ankle Characteristics in a Forced-Oscillation-Based Reduced-Order Model for Walking
- 引入类人踝关节动力学，优化步态表现
- 小扰动下仅靠踝关节即可稳定，无需足位调整
- 更贴近人类行走机制，适合机器人步态研究
本文将基于强迫振荡的简化行走模型扩展为包含踝关节与脚部的模型。设计了一种类人踝关节动力学范式，相比质点足模型，显著改善了步态特性。结果表明，该模型可通过足位调节与踝关节策略协同应对大初始误差；而在小扰动下，仅依靠所设计的本体感觉踝关节机制即可实现稳定，无需足位控制。这一新特性与人类行为一致，有助于深入理解类人行走及其稳定机制。
原文摘要 · Abstract (English)
This paper extends the forced-oscillation-based reduced-order model of walking to a model with ankles and feet. A human-inspired paradigm was designed for the ankle dynamics, which results in improved gait characteristics compared to the point-foot model. In addition, it was shown that while the proposed model can stabilize against large errors in initial conditions through combination of foot placement and ankle strategies, the model is able to stabilize against small perturbations without relying on the foot placement control and solely through the designed proprioceptive ankle scheme. This novel property, which is also observed in humans, can help in better understanding of anthropomorphic walking and its stabilization mechanisms.
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