TY - GEN
T1 - Analyzing effects of ankle-foot parameters on passive bipeds based on dynamic walking modeling
AU - Mai, Jingeng
AU - Gao, Yue
AU - Huang, Yan
AU - Wang, Qining
AU - Zhang, Lin
PY - 2012
Y1 - 2012
N2 - Though people's usual gaits tend to be natural and simple, the theoretical modeling and analysis are complicated based on the remarkable fact that the walking motion is a complex dynamic phenomenon. In this paper, we build a passive dynamic bipedal walking model with flat feet and compliant ankle joints. The bipedal walker travels on a slope actuated by the gravity. We analyze effects of ankle-foot parameters on walking characteristics based on dynamic walking modeling. Simulation results demonstrate that the model can perform stable walking cycle. The effects of ankle-foot parameters on motion characteristics with different ankle stiffness are shown in detail.
AB - Though people's usual gaits tend to be natural and simple, the theoretical modeling and analysis are complicated based on the remarkable fact that the walking motion is a complex dynamic phenomenon. In this paper, we build a passive dynamic bipedal walking model with flat feet and compliant ankle joints. The bipedal walker travels on a slope actuated by the gravity. We analyze effects of ankle-foot parameters on walking characteristics based on dynamic walking modeling. Simulation results demonstrate that the model can perform stable walking cycle. The effects of ankle-foot parameters on motion characteristics with different ankle stiffness are shown in detail.
KW - Passive dynamic walking
KW - ankle stiffness
KW - ankle-foot parameters
KW - bipedal walking modeling
UR - http://www.scopus.com/inward/record.url?scp=84868283197&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-34384-1_17
DO - 10.1007/978-3-642-34384-1_17
M3 - Conference contribution
AN - SCOPUS:84868283197
SN - 9783642343834
T3 - Communications in Computer and Information Science
SP - 135
EP - 143
BT - AsiaSim 2012 - Asia Simulation Conference 2012, Proceedings
T2 - Asia Simulation Conference, AsiaSim 2012
Y2 - 27 October 2012 through 30 October 2012
ER -