Abstract The bipedal inverted pendulum with damping has been adopted to simulate human–structure interaction recently. However, the lack of analysis and verification has provided motivation for further investigation. Leg damping and energy compensation strategy are required for the bipedal inverted pendulum to regulate gait patterns on vibrating structures. In this paper, the Hunt–Crossley model is adopted to get zeros contact force at touch down, while energy compensation is achieved by adjusting the stiffness and rest length of the legs. The damped bipedal inverted pendulum can achieve stable periodic gait with a lower energy input and flatter attack angle so that more gaits are available, compared to the template, referred to as spring-load inverted pendulum. The measured and simulated vertical ground reaction force-time histories are in good agreement. In addition, the dynamic load factors are also within a reasonable range. Parametric analysis shows that the damped bipedal inverted pendulum can achieve stable gaits of 1.6 to 2.4 Hz with a reasonable first harmonic dynamic load factor, which covers the normal walking step frequency. The proposed model in this paper can be applied to human–structure interaction analysis.

中文翻译：

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用于人体结构相互作用分析的阻尼双足倒立摆

摘要 带阻尼的双足倒立摆近年来被用于模拟人与结构的相互作用。然而，分析和验证的缺乏为进一步调查提供了动力。双足倒立摆需要腿部阻尼和能量补偿策略来调节振动结构上的步态模式。在本文中，采用 Hunt-Crossley 模型使触地接触力为零，同时通过调整腿的刚度和静止长度来实现能量补偿。阻尼双足倒立摆可以以较低的能量输入和更平坦的攻角实现稳定的周期性步态，因此与模板相比，可用的步态更多，称为弹簧负载倒立摆。测量和模拟的垂直地面反作用力-时间历程非常吻合。此外，动态负载系数也在合理范围内。参数分析表明，阻尼双足倒立摆可以实现1.6~2.4 Hz的稳定步态，具有合理的一次谐波动态载荷因子，涵盖正常步行步频。本文提出的模型可以应用于人-结构交互分析。