DocumentCode
2630541
Title
Effects of ankle stiffness on gait selection of dynamic bipedal walking with flat feet
Author
Huang, Yan ; Wang, Qining ; Chen, Baojun ; Wang, Long
Author_Institution
Intell. Control Lab., Peking Univ., Beijing, China
fYear
2011
fDate
June 29 2011-July 1 2011
Firstpage
1
Lastpage
6
Abstract
This paper investigates the effects of ankle joint stiffness on gait selection of dynamic bipedal walking with flat feet. We present a dynamic bipedal walking model with upper body, flat feet and compliant joints. The model can generate the three common gaits of dynamic bipedal walking. Simulation experiments are carried out to verify the analytical results and provide further results on gait comparison and selection.
Keywords
elastic constants; gait analysis; legged locomotion; physiological models; robot kinematics; ankle joint stiffness; dynamic bipedal walking; flat feet walking; gait selection; passivity-based bipedal walking model; Foot; Hip; Humans; Joints; Leg; Legged locomotion; Torque; Algorithms; Ankle Joint; Biomechanics; Flatfoot; Gait; Humans; Walking;
fLanguage
English
Publisher
ieee
Conference_Titel
Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on
Conference_Location
Zurich
ISSN
1945-7898
Print_ISBN
978-1-4244-9863-5
Electronic_ISBN
1945-7898
Type
conf
DOI
10.1109/ICORR.2011.5975446
Filename
5975446
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