Lateral Motion Analysis of Passive Dynamic Walking with Flat Feet — Analytic Solution and Stability for One DOF System

2009 ◽  
Author(s):  
Tetsuya Kinugasa ◽  
Koji Yoshida
Keyword(s):  
Motion Analysis ◽  
Analytic Solution ◽  
Lateral Motion ◽  
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 Realization of Quadrupedal Quasi-passive Dynamic Walking Driven by Rocking Motion and Motion Analysis based on a Nonholonomic Model

2013 ◽  
Vol 31 (8) ◽  
pp. 730-738
Author(s):  
Takeshi Kibayashi ◽  
Yasuhiro Sugimoto ◽  
Masato Ishikawa ◽  
Koichi Osuka ◽  
Yoshiyuki Sankai
Keyword(s):  
Motion Analysis ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Rocking Motion

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.

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