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Modeling and gait selection of passivity-based seven-link bipeds with dynamic series of walking phases

Published online by Cambridge University Press:  26 April 2011

Yan Huang ,
Qining Wang ,
Baojun Chen ,
Guangming Xie  and
Long Wang
Yan Huang
Affiliation:
Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, China
Qining Wang*
Affiliation:
Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, China
Baojun Chen
Affiliation:
Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, China
Guangming Xie
Affiliation:
Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, China
Long Wang
Affiliation:
Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, China
*
*Corresponding author. E-mail: qiningwang@pku.edu.cn
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Summary

This paper presents a seven-link dynamic walking model that is more close to human beings than other passivity-based dynamic walking models. We add hip actuation, upper body, flat feet, and ankle joints with torsional springs to the model. Walking sequence of flat-feet walkers has several substreams, which forms bipedal walking with dynamic series of phases. We investigate the effects of ankle stiffness on gait selection and evaluate different gaits in walking velocity, efficiency, and stability. Experimental results indicate that ankle stiffness plays different roles in different gaits and the gaits, which are more close to human walking with moderate speed, achieve better motion characteristics.

Keywords

Passive dynamic walkingBipedsGait selectionAnkle stiffnessDynamic walking phases
Type
Articles
Information
Robotica , Volume 30 , Issue 1 , January 2012 , pp. 39 - 51
Copyright
Copyright © Cambridge University Press 2011

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