Realization of High-Speed Flat-Footed Passive Dynamic Walking using Ankle Inerters
نویسندگان
چکیده
منابع مشابه
An 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). ...
متن کاملFrom Passive Dynamic Walking to Passive Turning of Biped walker
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 کاملEÆciency, Speed, and Scaling of 2D Passive Dynamic Walking
We address performance limits and dynamic behaviors of the two-dimensional passivedynamic bipedal walking mechanisms of Tad McGeer. The results highlight the role of heelstrike in determining the mechanical eÆciency of gait, and point to ways of improving eÆciency. We analyze several kneed and straight-legged walker designs, with round feet and point-feet. We present some necessary conditions o...
متن کاملfrom passive dynamic walking to passive turning of biped walker
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 کاملPassive Dynamic Walking Analysis
There are an estimated 1.7 million Americans living with limb loss; further, spinal cord injuries afflict 250,000 Americans [1]. Many patients lose their jobs and their quality of life plummets. Fortunately there have been significant advancements in the design of prosthetic limbs in the last few decades. A noteworthy achievement is the direct integration of a prosthetic device with the brain, ...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2013
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.31.721