Title :
Effects of ankle stiffness on gait selection of dynamic bipedal walking with flat feet
Author :
Huang, Yan ; Wang, Qining ; Chen, Baojun ; Wang, Long
Author_Institution :
Intell. Control Lab., Peking Univ., Beijing, China
fDate :
June 29 2011-July 1 2011
Abstract :
This paper investigates the effects of ankle joint stiffness on gait selection of dynamic bipedal walking with flat feet. We present a dynamic bipedal walking model with upper body, flat feet and compliant joints. The model can generate the three common gaits of dynamic bipedal walking. Simulation experiments are carried out to verify the analytical results and provide further results on gait comparison and selection.
Keywords :
elastic constants; gait analysis; legged locomotion; physiological models; robot kinematics; ankle joint stiffness; dynamic bipedal walking; flat feet walking; gait selection; passivity-based bipedal walking model; Foot; Hip; Humans; Joints; Leg; Legged locomotion; Torque; Algorithms; Ankle Joint; Biomechanics; Flatfoot; Gait; Humans; Walking;
Conference_Titel :
Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on
Conference_Location :
Zurich
Print_ISBN :
978-1-4244-9863-5
Electronic_ISBN :
1945-7898
DOI :
10.1109/ICORR.2011.5975446
