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Extensive Modeling of a 3 DOF Passive Dynamic Walker

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Climbing and Walking Robots

Abstract

Passive dynamic walkers can achieve a cyclic gait behavior basically under the influence of gravity. Different researchers have studied a number of passive walkers, but we still lack an extensive numerical modeling for the kneed passive walker, a walker with three degrees of freedom. This article shows preliminary results on the modeling of the kneed passive dynamic walker and compares the model results with known experimental facts from the human gait analysis.

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© 2006 Springer-Verlag Berlin Heidelberg

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Roa, M.A., Villegas, C.A., Ramírez, R.E. (2006). Extensive Modeling of a 3 DOF Passive Dynamic Walker. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_42

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  • DOI: https://doi.org/10.1007/3-540-26415-9_42

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-26413-2

  • Online ISBN: 978-3-540-26415-6

  • eBook Packages: EngineeringEngineering (R0)

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