Passive dynamic walking with knee and fixed flat feet

2012 ◽  
Author(s):  
Joohyung Kim ◽  
Chong-Ho Choi ◽  
Mark W. Spong
Keyword(s):  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Flat Feet

Efficient dynamic bipedal walking using effects of semicircular feet

Robotica ◽  
2010 ◽  
Vol 29 (3) ◽  
pp. 351-365 ◽  
Author(s):  
Fumihiko Asano ◽  
Zhi-Wei Luo
Keyword(s):  
Ankle Joint ◽  
High Speed ◽  
Joint Torque ◽  
Bipedal Walking ◽  
Convex Curve ◽  
Driving Mechanism ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Biped Robots ◽  
Flat Feet

SUMMARYAchieving energy-efficient and high-speed dynamic walking has become one of the main subjects of research in the area of robotic biped locomotion, and passive dynamic walking has attracted a great deal of attention as a solution to this. It is empirically known that the convex curve of the foot, which characterizes passive–dynamic walkers, has an important effect on increasing the walking speed.This paper mainly discusses our investigations into the driving mechanism for compass-like biped robots and the rolling effect of semicircular feet. We first analyze the mechanism for a planar fully actuated compass-like biped model to clarify the importance of ankle-joint torque by introducing a generalized virtual-gravity concept. A planar underactuated biped model with semicircular feet is then introduced and we demonstrate that virtual passive dynamic walking only by hip-joint torque can be accomplished based on the rolling effect. We then compare the rolling effect with a flat feet model through linear approximation, and show that the rolling effect is equivalent to virtual ankle-joint torque. Throughout this paper, we provide novel insights into how zero-moment-point-free robots can generate a dynamic bipedal gait.

scholarly journals An experimental study of passive dynamic walking

Robotica ◽  
2004 ◽  
Vol 22 (3) ◽  
pp. 251-262 ◽  
Author(s):  
Q. Wu ◽  
N. Sabet
Keyword(s):  
Surface Friction ◽  
Step Length ◽  
Gait Pattern ◽  
Dynamic Walking ◽  
Bipedal Robots ◽  
Passive Dynamic Walking ◽  
Gait Patterns ◽  
Flat Feet ◽  
Walking Mechanism ◽  
Walking Efficiency

A two-straight-legged walking mechanism with flat feet is designed and built to study the passive dynamic gait. It is shown that the mechanism having flat feet can exhibit passive dynamic walking as those with curved feet, but the walking efficiency is significantly lower. It is also shown that the balancing mass and its orientation are effective for controlling side-to-side rocking and yaw, which have significant effects on steady walking. The effects of various parameters on the gait patterns are also studied. lt is shown that changes in the ramp angle have the most dominant effect on the gait pattern as compared with the changes in the hip mass, ramp surface friction and size of the flat feet. More specifically, as the ramp angle increases, the step length increases while the range of the side-to side rocking angle decreases and the step length dictates the walking speed and the gravitational power. Another finding, is that adding a hip mass improves the walking efficiency by allowing the mechanism to walk on a flatter ramp. This research enables us to gain a better understanding of the mechanics of walking. Such an understanding will have a direct impact on better design of prostheses and on the active control aspects of bipedal robots.

scholarly journals Influence of the swing ankle angle on walking stability for a passive dynamic walking robot with flat feet

2016 ◽  
Vol 8 (3) ◽  
pp. 168781401664201 ◽  
Author(s):  
Xizhe Zang ◽  
Xinyu Liu ◽  
Yixiang Liu ◽  
Sajid Iqbal ◽  
Jie Zhao
Keyword(s):  
Dynamic Walking ◽  
Walking Robot ◽  
Passive Dynamic Walking ◽  
Flat Feet ◽  
Ankle Angle

Passive dynamic walking with flat feet and ankle compliance

Robotica ◽  
2009 ◽  
Vol 28 (3) ◽  
pp. 413-425 ◽  
Author(s):  
Qining Wang ◽  
Yan Huang ◽  
Long Wang
Keyword(s):  
Bipedal Walking ◽  
Knee Joints ◽  
Heel Strike ◽  
Bipedal Locomotion ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Uneven Terrain ◽  
Flat Feet ◽  
Ankle Joints ◽  
Link Model

SUMMARYThis paper presents a bipedal locomotion model for passive dynamic walking with flat feet and compliant ankles. The two-dimensional seven-link model extends the simplest walking model with the addition of hip actuation, knee joints, flat feet and torsional springs based compliance on ankle joints, concerning heel-strike and toe-strike transitions, to achieve adaptive bipedal locomotion on level ground with controllable walking speed. We investigate the effects of foot geometric parameters and ankles stiffness on bipedal walking. The model achieves satisfactory walking results not only on even ground but also on uneven terrain with no active control and on different walking velocities. In addition, from the view of stability, there is an optimal foot-ankle ratio of the passivity-based walker. The results can be used to explore further understanding of bipedal walking, and help the design of future intelligent ankle-foot prosthesis and passivity-based robot prototypes towards more practical uses.

EFFECTS OF FOOT SHAPE ON ENERGETIC EFFICIENCY AND DYNAMIC STABILITY OF PASSIVE DYNAMIC BIPED WITH UPPER BODY

2010 ◽  
Vol 07 (02) ◽  
pp. 295-313 ◽  
Author(s):  
QINING WANG ◽  
YAN HUANG ◽  
JINYING ZHU ◽  
LONG WANG ◽  
DONGJIAO LV
Keyword(s):  
Dynamic Stability ◽  
Computer Simulations ◽  
Upper Body ◽  
Human Gait ◽  
Energetic Efficiency ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Flat Feet ◽  
Simulation Results

Passive dynamic walking has been developed as a possible explanation for the efficiency of the human gait. In this paper, we investigate the effects of foot shape on energetic efficiency and dynamic stability of passivity-based bipeds with upper body. Three walking models with point feet, round feet and flat feet were presented. Each model has an upper body constrained to keep midway between legs. We use computer simulations to find which foot shapes are indeed optimal in view of energetic efficiency and dynamic stability for a passive dynamic biped with upper body. Simulation results indicate that feet improve both the energetic efficiency and dynamic stability of passive dynamic bipeds.

Experimental Study on Passive Dynamic Bipedal Walking: Comparing Test Platforms and Effects of Parameter Changes on Gait Patterns

2011 ◽  
Author(s):  
Kazi Rushdi ◽  
Derek Koop ◽  
Christine Q. Wu
Keyword(s):  
Small Difference ◽  
Bipedal Walking ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Gait Patterns ◽  
Belt Speed ◽  
Gait Parameters ◽  
Flat Feet ◽  
Walking Mechanism ◽  
Treadmill Belt

Passive dynamic walking is a gait developed, partially or in whole, by the energy provided by gravity. An improved kneed bipedal walking mechanism was designed and built to study passive gait patterns. The first aim of this study is to determine if testing a passive dynamic biped walker on a ramp is equivalent to testing on a treadmill. Based on the small difference between the gait patterns measured on the two test platforms, testing on a treadmill is equivalent to testing on a ramp. Measurement of the gait parameters were then conducted on the treadmill to evaluate the effects of the treadmill angle of inclination, mass distribution of the biped, treadmill belt speed and length of flat feet. Our experimental results are presented and compared with previous experimental and simulation results. Research on passive dynamic bipedal walking helps to develop an understanding of walking mechanics. Moreover, experimental passive dynamic walking results provide information to validate mathematical models of passive dynamic walking.

3D Dynamic Biped Walker with Flat Feet and Ankle Springs: Passive Gait Analysis and Extension to Active Walking

2015 ◽  
Vol 27 (4) ◽  
pp. 444-452 ◽  
Author(s):  
Tetsuya Kinugasa ◽  
◽  
Takashi Ito ◽  
Hiroaki Kitamura ◽  
Kazuhiro Ando ◽  
...  
Keyword(s):  
Gait Analysis ◽  
Horizontal Surface ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Research Attention ◽  
Biped Walking ◽  
Fundamental Properties ◽  
Considerable Research ◽  
Flat Feet ◽  
The Relationship

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270004/14.jpg"" width=""300"" /> A ZMP pattern of passive walker RW03</div> In the last two decades, passive dynamic walking (PDW) has attracted considerable research attention. The assumption that biped walking is based on PDW is now widely accepted. PDW bipeds change their gait to adapt to changes in body configuration and environment, and their efficiency is extremely high. PDW is generally difficult to realize because it lacks robustness. This means, for one thing, that biped walkers capable of PDW must be designed carefully. Once realized, however, the PDW bipeds are expected to have a suitable configuration for biped walking. This study then aims to analyze the fundamental properties of 3D PDW with flat soles and ankle springs and to use these properties to extend it to a horizontal surface. First, we develop a stable and relatively robust 3D PDW biped that has flat soles and ankle springs. Some sensors are implemented in order to measure the posture and the ZMP trajectory. Next, we investigate the relationship between its gait and the CoM position of each leg. We then attach a ballast to the leg to change the CoM, which effectively results in walking stability. Finally, a 3D active biped, whose knees consist of telescopic joints, is developed based on the 3D PDW biped. </span>

Sign in / Sign up

Export Citation Format

Share Document