This paper presents a unified framework for the design and development of a passive biped robot and of its digital twin. A serial procedure is followed starting from the system's physical description, continuing to the dynamic analysis of independent models, and concluding with an experimental validation. The biped's mechanical model is tailored to preserve passive walker key functionalities without sacrificing design simplicity. The mechanical model gives rise to a mathematical model that describes the biped's gait, and to a multibody dynamics model of the biped. A passive biped robot prototype is developed based on the model. The prototype is equipped with a wireless sensor measuring system to enable data acquisition. The highlight of this work is the high degree of coincidence achieved between the passive response of the numerically simulated mathematical model, the response obtained by a multibody dynamics simulation, and the experimentally obtained response of the physical passive walking robot. This finding verifies the simulation methods used and encourages the use of a carefully designed digital twin in the design iterations involved in the development of walking robots.

本文为无源两足动物机器人及其数字孪生机器人的设计和开发提供了一个统一的框架。从系统的物理描述开始，遵循串行过程，继续进行独立模型的动态分析，并进行实验验证。两足动物的机械模型经过定制，可以保留被动式助行器的关键功能，而不会牺牲设计的简便性。机械模型产生了描述两足动物步态的数学模型，并产生了两足动物的多体动力学模型。基于该模型，开发了一个被动两足动物机器人原型。该原型机配备了无线传感器测量系统，可以进行数据采集。这项工作的重点是在数值模拟数学模型的被动响应，通过多体动力学模拟获得的响应与在实验上获得的物理被动行走机器人的响应之间达到高度一致。这一发现验证了所使用的仿真方法，并鼓励在步行机器人开发所涉及的设计迭代中使用精心设计的数字孪生模型。