TY - GEN
T1 - Energetic efficiency and stability of dynamic bipedal walking gaits with different step lengths
AU - Huang, Yan
AU - Chen, Baojun
AU - Wang, Qining
AU - Wei, Kunlin
AU - Wang, Long
PY - 2010
Y1 - 2010
N2 - This paper presents a seven-link dynamic walking model that is more close to human beings. We add hip actuation, upper body, flat feet and compliant ankle joints to the model. Walking sequence of the flat-foot walker has several sub-streams that form bipedal walking with dynamic series of phases, which is different with the motion of roundfoot and point-foot models. We investigate the characteristics of three different walking gaits with different step lengths. Comparison of these walking gaits in walking velocity, efficiency and stability reveals the relation between step length and walking performance. Experimental results indicate that the gait which is more close to human normal walking achieves higher stability and energetic efficiency.
AB - This paper presents a seven-link dynamic walking model that is more close to human beings. We add hip actuation, upper body, flat feet and compliant ankle joints to the model. Walking sequence of the flat-foot walker has several sub-streams that form bipedal walking with dynamic series of phases, which is different with the motion of roundfoot and point-foot models. We investigate the characteristics of three different walking gaits with different step lengths. Comparison of these walking gaits in walking velocity, efficiency and stability reveals the relation between step length and walking performance. Experimental results indicate that the gait which is more close to human normal walking achieves higher stability and energetic efficiency.
UR - http://www.scopus.com/inward/record.url?scp=78651471280&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5650421
DO - 10.1109/IROS.2010.5650421
M3 - Conference contribution
AN - SCOPUS:78651471280
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 4077
EP - 4082
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -