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
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;
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
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5399656
