TY - GEN
T1 - Effects of a passive dynamic walker’s mechanical parameters on foot-ground clearance
AU - Liu, Xin Yu
AU - Zang, Xi Zhe
AU - Zhao, Jie
N1 - Publisher Copyright:
© (2014) Trans Tech Publications, Switzerland.
PY - 2014
Y1 - 2014
N2 - Unlike human beings, a robot will fall without a sufficient walking foot-ground clearance, which is essential to a success walking. However, to obtain less calculating time and simpler analysis, foot scuffing is ignored in most studies during numerical simulations of passive dynamic walkers which can walk down a gentle slope and are actuated only by their own gravity. So this paper initials a study on the effects of a passive dynamic walker’s mechanical parameters on foot-ground clearance and the results can be used to make a further parameters optimization based on walking stability analysis. A passive dynamic walking model with a hip joint, knee joints, ankle joints and an upper body and a prototype were built and numerical simulations were implemented to analyze the effects of mechanical parameters on foot-ground clearance. Finally, the results were validated in prototype experiments.
AB - Unlike human beings, a robot will fall without a sufficient walking foot-ground clearance, which is essential to a success walking. However, to obtain less calculating time and simpler analysis, foot scuffing is ignored in most studies during numerical simulations of passive dynamic walkers which can walk down a gentle slope and are actuated only by their own gravity. So this paper initials a study on the effects of a passive dynamic walker’s mechanical parameters on foot-ground clearance and the results can be used to make a further parameters optimization based on walking stability analysis. A passive dynamic walking model with a hip joint, knee joints, ankle joints and an upper body and a prototype were built and numerical simulations were implemented to analyze the effects of mechanical parameters on foot-ground clearance. Finally, the results were validated in prototype experiments.
KW - Biped robot
KW - Foot-ground clearance
KW - Mechanical parameters
KW - Passive dynamic walking
UR - https://www.scopus.com/pages/publications/84921346349
U2 - 10.4028/www.scientific.net/AMM.687-691.279
DO - 10.4028/www.scientific.net/AMM.687-691.279
M3 - 会议稿件
AN - SCOPUS:84921346349
T3 - Applied Mechanics and Materials
SP - 279
EP - 284
BT - Manufacturing Technology, Electronics, Computer and Information Technology Applications
A2 - Lin, Zhang
A2 - Hu, Hongying
A2 - Zhang, Yajun
A2 - Qiao, Jianguo
A2 - Xu, Jiamin
PB - Trans Tech Publications Ltd
T2 - 2014 International Conference on Manufacturing Technology and Electronics Applications, ICMTEA 2014
Y2 - 8 November 2014 through 9 November 2014
ER -