Analyzing effects of ankle-foot parameters on passive bipeds based on dynamic walking modeling

Jingeng Mai; Yue Gao; Yan Huang; Qining Wang; Lin Zhang

doi:10.1007/978-3-642-34384-1_17

Analyzing effects of ankle-foot parameters on passive bipeds based on dynamic walking modeling

Jingeng Mai^*, Yue Gao, Yan Huang, Qining Wang, Lin Zhang

^*Corresponding author for this work

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

Abstract

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.

Original language	English
Title of host publication	AsiaSim 2012 - Asia Simulation Conference 2012, Proceedings
Pages	135-143
Number of pages	9
Edition	PART 1
DOIs	https://doi.org/10.1007/978-3-642-34384-1_17
Publication status	Published - 2012
Externally published	Yes
Event	Asia Simulation Conference, AsiaSim 2012 - Shanghai, China Duration: 27 Oct 2012 → 30 Oct 2012

Publication series

Name	Communications in Computer and Information Science
Number	PART 1
Volume	323 CCIS
ISSN (Print)	1865-0929

Conference

Conference	Asia Simulation Conference, AsiaSim 2012
Country/Territory	China
City	Shanghai
Period	27/10/12 → 30/10/12

Keywords

Passive dynamic walking
ankle stiffness
ankle-foot parameters
bipedal walking modeling

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10.1007/978-3-642-34384-1_17

Cite this

Mai, J., Gao, Y., Huang, Y., Wang, Q., & Zhang, L. (2012). Analyzing effects of ankle-foot parameters on passive bipeds based on dynamic walking modeling. In AsiaSim 2012 - Asia Simulation Conference 2012, Proceedings (PART 1 ed., pp. 135-143). (Communications in Computer and Information Science; Vol. 323 CCIS, No. PART 1). https://doi.org/10.1007/978-3-642-34384-1_17

@inproceedings{13b50fa6f8fa4af9ac67d839711061a4,

title = "Analyzing effects of ankle-foot parameters on passive bipeds based on dynamic walking modeling",

abstract = "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.",

keywords = "Passive dynamic walking, ankle stiffness, ankle-foot parameters, bipedal walking modeling",

author = "Jingeng Mai and Yue Gao and Yan Huang and Qining Wang and Lin Zhang",

year = "2012",

doi = "10.1007/978-3-642-34384-1_17",

language = "English",

isbn = "9783642343834",

series = "Communications in Computer and Information Science",

number = "PART 1",

pages = "135--143",

booktitle = "AsiaSim 2012 - Asia Simulation Conference 2012, Proceedings",

edition = "PART 1",

note = "Asia Simulation Conference, AsiaSim 2012 ; Conference date: 27-10-2012 Through 30-10-2012",

}

Mai, J, Gao, Y, Huang, Y, Wang, Q & Zhang, L 2012, Analyzing effects of ankle-foot parameters on passive bipeds based on dynamic walking modeling. in AsiaSim 2012 - Asia Simulation Conference 2012, Proceedings. PART 1 edn, Communications in Computer and Information Science, no. PART 1, vol. 323 CCIS, pp. 135-143, Asia Simulation Conference, AsiaSim 2012, Shanghai, China, 27/10/12. https://doi.org/10.1007/978-3-642-34384-1_17

Analyzing effects of ankle-foot parameters on passive bipeds based on dynamic walking modeling. / Mai, Jingeng; Gao, Yue; Huang, Yan et al.
AsiaSim 2012 - Asia Simulation Conference 2012, Proceedings. PART 1. ed. 2012. p. 135-143 (Communications in Computer and Information Science; Vol. 323 CCIS, No. PART 1).

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

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

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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 -

Analyzing effects of ankle-foot parameters on passive bipeds based on dynamic walking modeling

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