Three-dimensional quasi-passive dynamic bipedal walking with flat feet and compliant ankles

Qining Wang; Long Wang; Yan Huang; Jinying Zhu; Wei Chen

doi:10.1109/CDC.2009.5399656

Three-dimensional quasi-passive dynamic bipedal walking with flat feet and compliant ankles

Qining Wang^*, Long Wang, Yan Huang, Jinying Zhu, Wei Chen

^*Corresponding author for this work

Peking University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

This paper investigates three-dimensional quasipassive dynamic bipedal walking on level ground with flat feet and compliant ankles. We present pointmass dynamic models to analyze and tune the characteristics of the bipedal gait. Simulations are carried out to study the effects of flat feet and ankle stiffness on the stability in both sagittal plane and frontal plane. Based on the theoretical analysis, we construct a robot prototype driven by hip actuation. The implementing of flat feet and coordination of ankle complex allow the prototype to walk on natural ground.

Original language	English
Title of host publication	Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	8200-8205
Number of pages	6
ISBN (Print)	9781424438716
DOIs	https://doi.org/10.1109/CDC.2009.5399656
Publication status	Published - 2009
Externally published	Yes
Event	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China Duration: 15 Dec 2009 → 18 Dec 2009

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Country/Territory	China
City	Shanghai
Period	15/12/09 → 18/12/09

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10.1109/CDC.2009.5399656

Cite this

Wang, Q., Wang, L., Huang, Y., Zhu, J., & Chen, W. (2009). Three-dimensional quasi-passive dynamic bipedal walking with flat feet and compliant ankles. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (pp. 8200-8205). Article 5399656 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2009.5399656

Wang, Qining ; Wang, Long ; Huang, Yan et al. / Three-dimensional quasi-passive dynamic bipedal walking with flat feet and compliant ankles. Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. pp. 8200-8205 (Proceedings of the IEEE Conference on Decision and Control).

@inproceedings{033ff1cc83cb41babde417ac48b749c1,

title = "Three-dimensional quasi-passive dynamic bipedal walking with flat feet and compliant ankles",

abstract = "This paper investigates three-dimensional quasipassive dynamic bipedal walking on level ground with flat feet and compliant ankles. We present pointmass dynamic models to analyze and tune the characteristics of the bipedal gait. Simulations are carried out to study the effects of flat feet and ankle stiffness on the stability in both sagittal plane and frontal plane. Based on the theoretical analysis, we construct a robot prototype driven by hip actuation. The implementing of flat feet and coordination of ankle complex allow the prototype to walk on natural ground.",

author = "Qining Wang and Long Wang and Yan Huang and Jinying Zhu and Wei Chen",

year = "2009",

doi = "10.1109/CDC.2009.5399656",

language = "English",

isbn = "9781424438716",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "8200--8205",

booktitle = "Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009",

address = "United States",

note = "48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 ; Conference date: 15-12-2009 Through 18-12-2009",

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Wang, Q, Wang, L, Huang, Y, Zhu, J & Chen, W 2009, Three-dimensional quasi-passive dynamic bipedal walking with flat feet and compliant ankles. in Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009., 5399656, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 8200-8205, 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, China, 15/12/09. https://doi.org/10.1109/CDC.2009.5399656

Three-dimensional quasi-passive dynamic bipedal walking with flat feet and compliant ankles. / Wang, Qining; Wang, Long; Huang, Yan et al.
Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. p. 8200-8205 5399656 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Wang, Qining

AU - Wang, Long

AU - Huang, Yan

AU - Zhu, Jinying

AU - Chen, Wei

PY - 2009

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N2 - This paper investigates three-dimensional quasipassive dynamic bipedal walking on level ground with flat feet and compliant ankles. We present pointmass dynamic models to analyze and tune the characteristics of the bipedal gait. Simulations are carried out to study the effects of flat feet and ankle stiffness on the stability in both sagittal plane and frontal plane. Based on the theoretical analysis, we construct a robot prototype driven by hip actuation. The implementing of flat feet and coordination of ankle complex allow the prototype to walk on natural ground.

AB - This paper investigates three-dimensional quasipassive dynamic bipedal walking on level ground with flat feet and compliant ankles. We present pointmass dynamic models to analyze and tune the characteristics of the bipedal gait. Simulations are carried out to study the effects of flat feet and ankle stiffness on the stability in both sagittal plane and frontal plane. Based on the theoretical analysis, we construct a robot prototype driven by hip actuation. The implementing of flat feet and coordination of ankle complex allow the prototype to walk on natural ground.

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DO - 10.1109/CDC.2009.5399656

M3 - Conference contribution

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SN - 9781424438716

T3 - Proceedings of the IEEE Conference on Decision and Control

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BT - Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009

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Wang Q, Wang L, Huang Y, Zhu J, Chen W. Three-dimensional quasi-passive dynamic bipedal walking with flat feet and compliant ankles. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc. 2009. p. 8200-8205. 5399656. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2009.5399656

Three-dimensional quasi-passive dynamic bipedal walking with flat feet and compliant ankles

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