# 使用被动机构进行负载搬运的四足运动中的步态依赖效应

> 原文链接：https://robotics.hellobike.com/papers/2026-09-10-2609-11059
> 频道：papers | 更新日期：2026-09-10 | 标签：arxiv, cs.RO
> 核心摘要：研究被动臂刚度阻尼在不同步态和载荷下对四足载荷搬运的影响，并在平地仿真中比较阻尼与欠阻尼配置。

# 使用被动机构进行负载搬运的四足运动中的步态依赖效应

::: v-pre
> 原文链接：[Gait-Dependent Effects on Quadruped Locomotion for Load-Carrying using Passive Mechanism](https://arxiv.org/abs/2609.11059)（arXiv 2609.11059 · 发布日期：2026-09-10）

**Gait-Dependent Effects on Quadruped Locomotion for Load-Carrying using Passive Mechanism**

研究被动臂刚度阻尼在不同步态和载荷下对四足载荷搬运的影响，并在平地仿真中比较阻尼与欠阻尼配置。

## 核心要点

- 被动机械接口可作为四足载荷搬运的轻量替代方案，但其阻抗会耦合载荷动态与运动模式。
- 论文分析不同步态和载荷条件下，被动臂刚度与阻尼选择对载荷搬运运动的影响。
- 在平地仿真中比较阻尼与欠阻尼配置；crawl步态下欠阻尼会增加被动关节振荡并可能降低ZMP裕度。
- 结果以步态-载荷-刚度-阻尼图总结；trot仅作为被动臂动态激励情形，不用于直接ZMP裕度稳定性比较。

**验证范围与局限**：验证范围为平地仿真；ZMP裕度降低仅针对crawl步态评估，trot仅作为被动臂激励情形。

## 英文摘要 (Abstract)

Passive mechanical interfaces offer a lightweight alternative to actuated manipulators for quadruped payload carrying, but their impedance directly couples the payload dynamics with the locomotion pattern. This paper analyzes how passive-arm stiffness-damping selection affects payload-carrying locomotion under different gait and payload conditions. We compare damped and underdamped passive-arm impedance configurations in simulation during flat-ground locomotion. For crawl gaits, where the support polygon remains well defined, the results show that underdamped impedance increases passive-joint oscillations and can reduce the ZMP margin with respect to the support polygon. Trot is retained as a dynamic excitation case for the passive arm, but it is not used for direct ZMP-margin stability comparison. The results are summarized in gait-payload-stiffness-damping maps, where ZMP-margin reduction is evaluated for crawl gaits and trot is retained only as a passive-arm excitation case.

作者：Giovanni Dessy, Claudio Semini, Victor Barasuol
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## 原始参考来源 (Sources)

- [arXiv 2609.11059：Gait-Dependent Effects on Quadruped Locomotion for Load-Carrying using Passive Mechanism](https://arxiv.org/abs/2609.11059)