DocumentCode
511623
Title
Three-dimensional quasi-passive dynamic bipedal walking with flat feet and compliant ankles
Author
Wang, Qining ; Wang, Long ; Huang, Yan ; Zhu, Jinying ; Chen, Wei
Author_Institution
Coll. of Eng., Peking Univ., Beijing, China
fYear
2009
fDate
15-18 Dec. 2009
Firstpage
8200
Lastpage
8205
Abstract
This paper investigates three-dimensional quasi-passive dynamic bipedal walking on level ground with flat feet and compliant ankles. We present pointmass dynamic models to analyze and tune the characteristics of the bipedal gait. Simulations are carried out to study the effects of flat feet and ankle stiffness on the stability in both sagittal plane and frontal plane. Based on the theoretical analysis, we construct a robot prototype driven by hip actuation. The implementing of flat feet and coordination of ankle complex allow the prototype to walk on natural ground.
Keywords
legged locomotion; robot dynamics; ankle stiffness; bipedal gait; compliant ankles; flat feet; pointmass dynamic models; three-dimensional quasi-passive dynamic bipedal walking; Foot; Hip; Humans; Joints; Legged locomotion; Muscles; Prototypes; Robot kinematics; Springs; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location
Shanghai
ISSN
0191-2216
Print_ISBN
978-1-4244-3871-6
Electronic_ISBN
0191-2216
Type
conf
DOI
10.1109/CDC.2009.5399656
Filename
5399656
Link To Document