A Parameter Study on Effect of Pattern of Motion on Walking Speed of Biped

Abstract

Study of fast motion of bipeds is an interesting subject for researchers. It is well known that for a specified biped, with certain physical parameters and actuation capability, change of kinematic parameters of motion may change the speed of motion. Among such parameters are mean value of hip height, relative horizontal position of hip at the beginning and end of single support phase and top position of ankle and its relative horizontal position. This work presents a parameter study in which a phase-plane analysis for minimum time motion of a biped is used to find maximum speed of biped for different values of each parameter in one step. The frame work of minimum time solution is such that it fulfills zero moment point criterion for stability and friction condition for slippage prevention.

A model based study of a quantitative relation between joint strengthening and the highest achievable speed of human walking

“…A parametric studies with the proposed mathematical model [49,50] can illustrate the effect of pattern of motion on time optimal walking. The objective of the current study was not to investigate the effect of these kinematic parameters on walking speed but to find the effect of joint strengthening in time optimal walking with the fixed and specified pattern of motion.…”