How does ankle push-off balance the walking speed and energy efficiency of planar biped robots?
نویسندگان
چکیده
منابع مشابه
Robots in human biomechanics--a study on ankle push-off in walking.
In biomechanics, explanatory template models are used to identify the basic mechanisms of human locomotion. However, model predictions often lack verification in a realistic environment. We present a method that uses template model mechanics as a blueprint for a bipedal robot and a corresponding computer simulation. The hypotheses derived from template model studies concerning the function of h...
متن کاملImpulsive ankle push-off powers leg swing in human walking.
Rapid unloading and a peak in power output of the ankle joint have been widely observed during push-off in human walking. Model-based studies hypothesize that this push-off causes redirection of the body center of mass just before touch-down of the leading leg. Other research suggests that work done by the ankle extensors provides kinetic energy for the initiation of swing. Also, muscle work is...
متن کاملA unified perspective on ankle push-off in human walking.
Muscle-tendon units about the ankle joint generate a burst of positive power during the step-to-step transition in human walking, termed ankle push-off, but there is no scientific consensus on its functional role. A central question embodied in the biomechanics literature is: does ankle push-off primarily contribute to leg swing, or to center of mass (COM) acceleration? This question has been d...
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This paper proposes a robust mathematical approach for motion control. The proposed control technique is applied to a three-degree of freedom Biped walking robot for illustration. The design technique is divided into two major steps; the first one is to establish a robust position control scheme with both guaranteed stability and trajectory tracking capability using a model-reference technique ...
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This paper describes the dynamic analysis of biped locomotion systems. A planar biped is inodelled and studied focusing on the problem of energy efficiency. First, the motion of the system is characterised in terms of a set of locomotion variables, namely: step length, hip height, hip ripple, hip oflset, foot clearance and link lengths, Afterwards, three cost functions related to energy are pro...
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ژورنال
عنوان ژورنال: Advances in Mechanical Engineering
سال: 2021
ISSN: 1687-8140,1687-8140
DOI: 10.1177/16878140211011905