Abstract
Though people’s usual gaits tend to be natural and simple, the theoretical modeling and analysis are complicated based on the remarkable fact that the walking motion is a complex dynamic phenomenon. In this paper, we build a passive dynamic bipedal walking model with flat feet and compliant ankle joints. The bipedal walker travels on a slope actuated by the gravity. We analyze effects of ankle-foot parameters on walking characteristics based on dynamic walking modeling. Simulation results demonstrate that the model can perform stable walking cycle. The effects of ankle-foot parameters on motion characteristics with different ankle stiffness are shown in detail.
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Mai, J., Gao, Y., Huang, Y., Wang, Q., Zhang, L. (2012). Analyzing Effects of Ankle-Foot Parameters on Passive Bipeds Based on Dynamic Walking Modeling. In: Xiao, T., Zhang, L., Fei, M. (eds) AsiaSim 2012. AsiaSim 2012. Communications in Computer and Information Science, vol 323. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34384-1_17
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DOI: https://doi.org/10.1007/978-3-642-34384-1_17
Publisher Name: Springer, Berlin, Heidelberg
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