Title :
The Effects of Parameters on the Stability of Passive Dynamic Walking
Author :
Ni, Xiuhua ; Chen, Weishan ; Liu, Junkao
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
We studied the effects of parameters on the stability of passive dynamic walking by simulations and experiments. For simulations, we quantified the stability as the largest amount of lowing that the virtual prototype could still recover from and continue walking to the end. We used the ADAMS software to obtain this largest amount lowing. For experiments, we quantified the stability of each walker by observing 100 passive walking trials down a gentle slope of finite length and recording the fraction of trials which successfully walked to the end. This study provides a guide for designing passive dynamic walkers with high stability. This might also be used for designing prosthetic legs.
Keywords :
gait analysis; medical computing; prosthetics; ADAMS software; passive dynamic walking; prosthetic leg design; trials fraction; virtual prototype; Damping; Equations; Foot; Hip; Laboratories; Leg; Legged locomotion; Prosthetics; Springs; Stability;
Conference_Titel :
Bioinformatics and Biomedical Engineering , 2009. ICBBE 2009. 3rd International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-2901-1
Electronic_ISBN :
978-1-4244-2902-8
DOI :
10.1109/ICBBE.2009.5163603
