An Experimental Study for Leg-Exchange Phenomenon of Passive Walking
نویسندگان
چکیده
منابع مشابه
An experimental study of passive dynamic walking
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 etfective for controlling side-to-side rocking and yaw, wh...
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Previous research has shown that passive (or ballistic) walking is an energetic efficient and mechanical cheap way of walking. Therefore ballistic walking would be suitable for apphcauons in rehabilitation technology and autonomous robots. Successful application would require a smooth hip trajectory in ordet to protect respectively the patient or electronics against large velocity changes due t...
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In this study an experimental passive dynamic biped walker is developed. The design of the experimental passive walker incorporates an accelerometer and an encoder for the purpose of gait measurement. The aim of this study is to compare the equivalency of testing a passive dynamic biped walker on a ramp to testing on a treadmill. The measured gaits produced on a ramp and on a treadmill are used...
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Dynamically stable biped robots mimicking human locomotion have received significant attention over the last few decades. Formerly, the existence of stable periodic gaits for straight walking of passive biped walkers was well known and investigated as the notion of passive dynamic walking. This study is aimed to elaborate this notion in the case of three dimensional (3D) walking and extend it f...
متن کاملAn Experimental Study of Three-Dimensional Passive Dynamic Walking with Flat Feet and Ankle Springs
Passive dynamic bipeds were first studied by McGeer (McGeer, 1990) as inspired by a bipedal toy described in (McMahon, 1984). Passive dynamic walkers can walk down a shallow slope without actuators and controllers(McGeer, 1990; 1993). McGeer has built passive walkers that exhibit steady motion using a Poincaré map, which he called as a stride function, to analyze the gaits(McGeer, 1990; 1993). ...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 2006
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.72.2208