Modeling and analysis of passive dynamic bipedal walking with segmented   feet and compliant joints

doi:10.1007/s10409-012-0079-6

CORC > 北京大学 > 工学院

	Modeling and analysis of passive dynamic bipedal walking with segmented feet and compliant joints
	Huang, Yan ; Wang, Qi-Ning ; Gao, Yue ; Xie, Guang-Ming
刊名	acta mechanica sinica
	2012
关键词	Passive dynamic walking Segmented feet Compliant joints Bipeds POSITION DEPENDENCE FOOT MODEL GAIT MECHANICS WALKERS ROBOT
DOI	10.1007/s10409-012-0079-6
英文摘要	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 flat 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.; http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000310884300025&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=8e1609b174ce4e31116a60747a720701 ; Engineering, Mechanical; Mechanics; SCI(E); EI; 中国科技核心期刊(ISTIC); 中国科学引文数据库(CSCD); 6; ARTICLE; 5; 1457-1465; 28
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/154568]
专题	工学院
推荐引用方式 GB/T 7714	Huang, Yan,Wang, Qi-Ning,Gao, Yue,et al. Modeling and analysis of passive dynamic bipedal walking with segmented feet and compliant joints[J]. acta mechanica sinica,2012.
APA	Huang, Yan,Wang, Qi-Ning,Gao, Yue,&Xie, Guang-Ming.(2012).Modeling and analysis of passive dynamic bipedal walking with segmented feet and compliant joints.acta mechanica sinica.
MLA	Huang, Yan,et al."Modeling and analysis of passive dynamic bipedal walking with segmented feet and compliant joints".acta mechanica sinica (2012).