410 A Study on Gait Generation Based on Passive Dynamic Walking

2006 ◽  
Vol 2006.41 (0) ◽  
pp. 167-168
Author(s):  
Takeshi HARAKO ◽  
Yoshihiro HAGIHARA ◽  
Shigeyuki SHIMACHI ◽  
Akira HASHIMOTO ◽  
Yoshihide HAKOZAKI
Keyword(s):  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Gait Generation

Gait Generation and Stabilization for Nearly Passive Dynamic Walking Using Auto-distributed Impulses

2015 ◽  
Vol 18 (4) ◽  
pp. 1343-1358 ◽  
Author(s):  
Jae-Sung Moon ◽  
Dušan M. Stipanović ◽  
Mark W. Spong
Keyword(s):  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Gait Generation

Estimation of the Stable Fixed Point of Passive Dynamic Walking with BP Neural Network

ROBOT ◽  
2010 ◽  
Vol 32 (4) ◽  
pp. 478-483 ◽  
Author(s):  
Xiuhua NI ◽  
Weishan CHEN ◽  
Junkao LIU ◽  
Shengjun SHI
Keyword(s):  
Neural Network ◽  
Fixed Point ◽  
Bp Neural Network ◽  
Stable Fixed Point ◽  
Dynamic Walking ◽  
Passive Dynamic Walking

A passive dynamic walking model with Coulomb friction at the hip joint

Robotica ◽  
2013 ◽  
Vol 31 (8) ◽  
pp. 1221-1227 ◽  
Author(s):  
Wenhao Guo ◽  
Tianshu Wang ◽  
Qi Wang
Keyword(s):  
Hip Joint ◽  
Coulomb Friction ◽  
Basins Of Attraction ◽  
Swing Phase ◽  
Dynamic Equations ◽  
Two Dimensional ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Impact Phase ◽  
The Impact

SUMMARYThis paper presents a modified passive dynamic walking model with hip friction. We add Coulomb friction to the hip joint of a two-dimensional straight-legged passive dynamic walker. The walking map is divided into two parts – the swing phase and the impact phase. Coulomb friction and impact make the model's dynamic equations nonlinear and non-smooth, and a numerical algorithm is given to deal with this model. We study the effects of hip friction on gait and obtain basins of attraction of different coefficients of friction.

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