Gait Selection and Transition of Passivity-Based Bipeds with Adaptable Ankle Stiffness

Gait Selection and Transition of Passivity-Based Bipeds with Adaptable Ankle Stiffness

Stable bipedal walking is one of the most important components of humanoid robot design, which can help us better understand natural human walking. In this paper, to study gait selection and gait transition of efficient bipedal walking, we proposed a dynamic bipedal walking model with an upper body,...

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Main Authors: Yan Huang, Qining Wang
Format: Article
Language:English
Published: SAGE Publishing 2012-10-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/51533
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spelling doaj-8a18ae5b750b4bfc8bd241abaf3148112020-11-25T03:28:47ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142012-10-01910.5772/5153310.5772_51533Gait Selection and Transition of Passivity-Based Bipeds with Adaptable Ankle StiffnessYan Huang0Qining Wang1 Beijing Engineering Research Center of Intelligent Rehabilitation Engineering, Peking University, China Beijing Engineering Research Center of Intelligent Rehabilitation Engineering, Peking University, ChinaStable bipedal walking is one of the most important components of humanoid robot design, which can help us better understand natural human walking. In this paper, to study gait selection and gait transition of efficient bipedal walking, we proposed a dynamic bipedal walking model with an upper body, flat feet and compliant joints. The model can achieve stable cyclic motion with different walking gaits. The hip actuation and ankle stiffness behavior of the model are quite similar to those of human normal walking. In simulation, we studied the influence of hip actuation and ankle stiffness on walking performance of each gait. The effects of ankle stiffness on gait selection are also analyzed. Gait transition is realized by adjusting ankle stiffness during walking.https://doi.org/10.5772/51533
collection DOAJ
language English
format Article
sources DOAJ
author Yan Huang
Qining Wang
spellingShingle Yan Huang
Qining Wang
Gait Selection and Transition of Passivity-Based Bipeds with Adaptable Ankle Stiffness
International Journal of Advanced Robotic Systems
author_facet Yan Huang
Qining Wang
author_sort Yan Huang
title Gait Selection and Transition of Passivity-Based Bipeds with Adaptable Ankle Stiffness
title_short Gait Selection and Transition of Passivity-Based Bipeds with Adaptable Ankle Stiffness
title_full Gait Selection and Transition of Passivity-Based Bipeds with Adaptable Ankle Stiffness
title_fullStr Gait Selection and Transition of Passivity-Based Bipeds with Adaptable Ankle Stiffness
title_full_unstemmed Gait Selection and Transition of Passivity-Based Bipeds with Adaptable Ankle Stiffness
title_sort gait selection and transition of passivity-based bipeds with adaptable ankle stiffness
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2012-10-01
description Stable bipedal walking is one of the most important components of humanoid robot design, which can help us better understand natural human walking. In this paper, to study gait selection and gait transition of efficient bipedal walking, we proposed a dynamic bipedal walking model with an upper body, flat feet and compliant joints. The model can achieve stable cyclic motion with different walking gaits. The hip actuation and ankle stiffness behavior of the model are quite similar to those of human normal walking. In simulation, we studied the influence of hip actuation and ankle stiffness on walking performance of each gait. The effects of ankle stiffness on gait selection are also analyzed. Gait transition is realized by adjusting ankle stiffness during walking.
url https://doi.org/10.5772/51533
work_keys_str_mv AT yanhuang gaitselectionandtransitionofpassivitybasedbipedswithadaptableanklestiffness
AT qiningwang gaitselectionandtransitionofpassivitybasedbipedswithadaptableanklestiffness
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