The Effects of Parameters on the Stability of Passive Dynamic Walking

Author

Ni, Xiuhua ; Chen, Weishan ; Liu, Junkao

Author_Institution

State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China

fYear

2009

fDate

11-13 June 2009

Firstpage

1

Lastpage

4

Abstract

We studied the effects of parameters on the stability of passive dynamic walking by simulations and experiments. For simulations, we quantified the stability as the largest amount of lowing that the virtual prototype could still recover from and continue walking to the end. We used the ADAMS software to obtain this largest amount lowing. For experiments, we quantified the stability of each walker by observing 100 passive walking trials down a gentle slope of finite length and recording the fraction of trials which successfully walked to the end. This study provides a guide for designing passive dynamic walkers with high stability. This might also be used for designing prosthetic legs.

Keywords

gait analysis; medical computing; prosthetics; ADAMS software; passive dynamic walking; prosthetic leg design; trials fraction; virtual prototype; Damping; Equations; Foot; Hip; Laboratories; Leg; Legged locomotion; Prosthetics; Springs; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Bioinformatics and Biomedical Engineering , 2009. ICBBE 2009. 3rd International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4244-2901-1

Electronic_ISBN

978-1-4244-2902-8

Type

conf

DOI

10.1109/ICBBE.2009.5163603

Filename

5163603