DocumentCode :
2423486
Title :
Simplest dynamic walking model with toed feet
Author :
Kumar, R.P. ; Yoon, J.W. ; Kim, G.S.
Author_Institution :
Sch. of Mech. & Aerosp. Eng., Gyeongsang Nat. Univ., Jinju
fYear :
2008
fDate :
1-3 Dec. 2008
Firstpage :
245
Lastpage :
250
Abstract :
This paper presents a dynamic walking model with toed feet that can walk down a gentle slope under the action of gravity alone. The model is the simplest of its kind with a point mass at the hip and two rigid legs each hinged at the hip on one end and equipped with toed foot at the other end. We investigate two cases of the model, one with massless legs and another with infinitesimal leg masses. Rotation of the stance foot about the toe joint is initiated by ankle-strike, which is caused by the inelastic collision of the stance leg with a stop mounted on the stance foot. Numerical simulations of walking show that larger step lengths and higher speeds can be achieved than what is achievable by a point-feet walker of same hip mass and leg lengths. The characteristics of deterministic gait with infinitesimal leg masses is compared with that of nondeterministic gait with zero leg masses. It is shown that deterministic gait does not give maximum speed and efficiency compared to nondeterministic gait with swing leg control. Finally, active dynamic walking of the proposed walker is discussed.
Keywords :
legged locomotion; active dynamic walking; deterministic gait; dynamic walking model; hip mass; inelastic collision; infinitesimal leg masses; leg length; massless legs; point-feet walker; stance foot rotation; toe joint; toed feet; Aerodynamics; Energy consumption; Energy efficiency; Foot; Gravity; Hip; Humanoid robots; Leg; Legged locomotion; Numerical simulation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Humanoid Robots, 2008. Humanoids 2008. 8th IEEE-RAS International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4244-2821-2
Electronic_ISBN :
978-1-4244-2822-9
Type :
conf
DOI :
10.1109/ICHR.2008.4755952
Filename :
4755952
Link To Document :
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