TY - JOUR
T1 - Modeling and gait selection of passivity-based seven-link bipeds with dynamic series of walking phases
AU - Huang, Yan
AU - Wang, Qining
AU - Chen, Baojun
AU - Xie, Guangming
AU - Wang, Long
PY - 2012/1
Y1 - 2012/1
N2 - This paper presents a seven-link dynamic walking model that is more close to human beings than other passivity-based dynamic walking models. We add hip actuation, upper body, flat feet, and ankle joints with torsional springs to the model. Walking sequence of flat-feet walkers has several substreams, which forms bipedal walking with dynamic series of phases. We investigate the effects of ankle stiffness on gait selection and evaluate different gaits in walking velocity, efficiency, and stability. Experimental results indicate that ankle stiffness plays different roles in different gaits and the gaits, which are more close to human walking with moderate speed, achieve better motion characteristics.
AB - This paper presents a seven-link dynamic walking model that is more close to human beings than other passivity-based dynamic walking models. We add hip actuation, upper body, flat feet, and ankle joints with torsional springs to the model. Walking sequence of flat-feet walkers has several substreams, which forms bipedal walking with dynamic series of phases. We investigate the effects of ankle stiffness on gait selection and evaluate different gaits in walking velocity, efficiency, and stability. Experimental results indicate that ankle stiffness plays different roles in different gaits and the gaits, which are more close to human walking with moderate speed, achieve better motion characteristics.
KW - Ankle stiffness
KW - Bipeds
KW - Dynamic walking phases
KW - Gait selection
KW - Passive dynamic walking
UR - http://www.scopus.com/inward/record.url?scp=82955199960&partnerID=8YFLogxK
U2 - 10.1017/S0263574711000397
DO - 10.1017/S0263574711000397
M3 - Article
AN - SCOPUS:82955199960
SN - 0263-5747
VL - 30
SP - 39
EP - 51
JO - Robotica
JF - Robotica
IS - 1
ER -