Passive dynamic walking has been developed as a possible explanation for the efficiency of the human gait. This paper presents a passive dynamic walking model with segmented feet, which makes the bipedal walking gait ...Passive dynamic walking has been developed as a possible explanation for the efficiency of the human gait. This paper presents a passive dynamic walking model with segmented feet, which makes the bipedal walking gait more close to natural human-like gait. The proposed model extends the simplest walking model with the addition of fiat feet and torsional spring based compliance on ankle joints and toe joints, to achieve stable walking on a slope driven by gravity. The push-off phase includes foot rotations around the toe joint and around the toe tip, which shows a great resemblance to human normal walking. This paper investigates the effects of the segmented foot structure on bipedal walking in simulations. The model achieves satisfactory walking results on even or uneven slopes.展开更多
The friction force is an important environmental factor that influences dynamic walking.While most of the related works simply assume static friction or Coulomb friction,we use the LuGre friction,which accounts for bo...The friction force is an important environmental factor that influences dynamic walking.While most of the related works simply assume static friction or Coulomb friction,we use the LuGre friction,which accounts for both static and dynamic effects,to model the horizontal ground reaction force of passive dynamic walking.We present a detailed mathematical modeling method and perform numerical simulations using it.Furthermore,we analyze the ground surface cases of the Coulomb friction condition and static friction condition to verify the model’s generalization.We discover the required condition for the existence of the period-1 gait through investigation.Our mathematical model and theoretical analysis add to our understanding of passive dynamic walking,which helps to positively utilize the natural dynamics of the legged locomotion system in control design.展开更多
Micromechanics aims mainly at establishing the quantitative relation between the macroscopic mechanical behavior and the microstructure of heterogeneous materials.
基金supported by the National Natural Science Foundation of China (61005082, 61020106005)Doctoral Fund of Ministry of Education of China (20100001120005)+1 种基金PKU-Biomedical Engineering Join Seed Grant 2012the 985 Project of PekingUniversity (3J0865600)
文摘Passive dynamic walking has been developed as a possible explanation for the efficiency of the human gait. This paper presents a passive dynamic walking model with segmented feet, which makes the bipedal walking gait more close to natural human-like gait. The proposed model extends the simplest walking model with the addition of fiat feet and torsional spring based compliance on ankle joints and toe joints, to achieve stable walking on a slope driven by gravity. The push-off phase includes foot rotations around the toe joint and around the toe tip, which shows a great resemblance to human normal walking. This paper investigates the effects of the segmented foot structure on bipedal walking in simulations. The model achieves satisfactory walking results on even or uneven slopes.
基金supported by Fundamental Research Funds for the Central Universities,China(buctrc202215).
文摘The friction force is an important environmental factor that influences dynamic walking.While most of the related works simply assume static friction or Coulomb friction,we use the LuGre friction,which accounts for both static and dynamic effects,to model the horizontal ground reaction force of passive dynamic walking.We present a detailed mathematical modeling method and perform numerical simulations using it.Furthermore,we analyze the ground surface cases of the Coulomb friction condition and static friction condition to verify the model’s generalization.We discover the required condition for the existence of the period-1 gait through investigation.Our mathematical model and theoretical analysis add to our understanding of passive dynamic walking,which helps to positively utilize the natural dynamics of the legged locomotion system in control design.
文摘Micromechanics aims mainly at establishing the quantitative relation between the macroscopic mechanical behavior and the microstructure of heterogeneous materials.
