Gait Analysis of the Passive Dynamic Walker with Knees

Authors:
Peijie Zhang;Yantao Tian;Zhenze Liu
Affiliations:
College of Communication Engineering, Jilin University, Changchun, China 130025;College of Communication Engineering, Jilin University, Changchun, China 130025;College of Communication Engineering, Jilin University, Changchun, China 130025
Venue:
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Year:
2008

Citing 4
Cited 0

Passive dynamic walking

International Journal of Robotics Research
Limit Cycles in a Passive Compass GaitBiped and Passivity-Mimicking Control Laws

Autonomous Robots
Passive dynamic walking model with upper body

Robotica
A Disturbance Rejection Measure for Limit Cycle Walkers: The Gait Sensitivity Norm

IEEE Transactions on Robotics

Quantified Score

Hi-index	0.00

Visualization

Abstract

A systematic study to the passive gaits of the passive dynamic walker with knees is presented in the paper. The motion models are derived firstly and normalized for numerical simulation. A time based limit cycle is employed to represent the hybrid dynamics of periodic passive dynamic walking. The evaluation of gait descriptors under variations of parameters of the robot is studied based on the Poincaré first return map which captures the periodic dynamics of passive gaits. The stability property is analyzed and the effect of knees is discussed. The research of the paper is much helpful to the study of passive dynamic walkers with complex structures, the theoretical analysis and control strategy design.