用弹性连接的双轮结构实现稳定步行，可做助行设备
Modeling, Analysis and Activation of Planar Viscoelastically-combined Rimless Wheels
- 双十字框架通过弹性元件连接，形成新型被动行走结构
- 模拟显示该结构能产生稳定水平行走步态
- 适合开发无需电力的助行辅助装置
本文提出一种新型被动动态行走器，由两个十字形框架和八个粘弹性元件构成。由于是通过粘弹性元件连接的两个四足无轮轮结构，称为粘弹性组合无轮轮（VCRW）。介绍了两种不同十字形框架组成的VCRW：一种为希腊十字形框架组合（VCRW1），另一种为可绕中心轴自由旋转的双连杆十字形框架（VCRW2）。首先，描述了模型假设、运动方程与碰撞规则；其次，数值分析了被动动态行走的基本步态特性；最后，针对VCRW2设计激活策略以生成稳定的水平行走步态，并讨论其作为新型步行辅助装置的研究意义。
原文摘要 · Abstract (English)
This paper proposes novel passive-dynamic walkers formed by two cross-shaped frames and eight viscoelastic elements. Since it is a combination of two four-legged rimless wheels via viscoelastic elements, we call it viscoelastically-combined rimless wheel (VCRW). Two types of VCRWs consisting of different cross-shaped frames are introduced; one is formed by combining two Greek-cross-shaped frames (VCRW1), and the other is formed by combining two-link cross-shaped frames that can rotate freely around the central axis (VCRW2). First, we describe the model assumptions and equations of motion and collision. Second, we numerically analyze the basic gait properties of passive dynamic walking. Furthermore, we consider an activation of VCRW2 for generating a stable level gait, and discuss the significance of the study as a novel walking support device.
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