Gait Stabilization of Passive Dynamic Walking by Foot Shape Optimization
نویسندگان
چکیده
منابع مشابه
From 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 کاملMeasurement of Walking Gait for 3d Passive Dynamic Biped Walker
Passive dynamic bipedal walking (PDW) is an attractive topic not only for robotics field but also the other scientific fields, i.e. physics and biology. In order to clarify its mechanism of walking, many researchers have developed various PDW machines. We also have developed several 3D PDW with flat feet and ankle springs. However there are no researches on the measurement of 3-D PDW gait, whic...
متن کاملStabilization of Lateral Motion in Passive Dynamic Walking
Passive dynamic walking refers to a class of bipedal machines that are able to walk down a gentle slope with no external control or energy input. The legs swing naturally as pendula, and conservation of angular momentum governs the contact of the swing foot with the ground. Previous machines have been limited to planar motions. We extend the planar motions to allow for tilting side to side (rol...
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 کاملEnhancement of Stabilization for Passive Walking by Chaos Control Approach
Passive walking is an attractive walking style which emerges autonomously on shallow slope without external input. It is known that the walking motion varies to chaotic in the vicinity of the limit of the stable walking. This phenomenon had been analyzed well, but had not been utilized directly for control. Usually only period-1 w alking gait has been dealt with as an active usage of passive wa...
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ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 2014
ISSN: 0453-4654,1883-8189
DOI: 10.9746/sicetr.50.51