Ankle springs instead of arc-shaped feet for passive dynamic walkers

Wisse, Martijn; Hobbelen, D.G.E.; Rotteveel, Rjj; Anderson, Stuart; Zeglin, Garth

doi:10.1109/ichr.2006.321371

Cited by 70 publications

(43 citation statements)

References 15 publications

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“…The stance leg with the foot and ankle springs is modeled as a point foot with a torsional spring between the stance leg and the floor. Wisse et al showed that arc-shaped feet rigidly connected to the legs and flat feet with ankle springs have a similar effect on the disturbance behavior in the simple 2D passive walking model (Wisse et al, 2006). Since McGeer's work, a few passive walkers that exhibit stable walking have been constructed.…”

Section: D Passive Biped Walkermentioning

confidence: 99%

“…The simplest model exhibits period doubling bifurcations, leading to apparently chaotic gaits, as with the compass model (Garcia et al, 1998). Wisse et al studied a 2D straight-legged passive walker with flat feet and ankle springs by simplifying the interaction of the spring and the foot (Wisse et al, 2006) as indicated in Fig. 3.…”

Section: D Passive Biped Walkermentioning

confidence: 99%

See 1 more Smart Citation

An Experimental Study of Three-Dimensional Passive Dynamic Walking with Flat Feet and Ankle Springs

Narukawa¹,

Yokoyama²,

Takahashi³

et al. 2010

Cutting Edge Robotics 2010

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Section: D Passive Biped Walkermentioning

confidence: 99%

Section: D Passive Biped Walkermentioning

confidence: 99%

An Experimental Study of Three-Dimensional Passive Dynamic Walking with Flat Feet and Ankle Springs

Narukawa¹,

Yokoyama²,

Takahashi³

et al. 2010

Cutting Edge Robotics 2010

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“…It is found that passive robot with flat feet with springs can obtain better walking stability than that with curved feet or with the feet without ankle compliance. 10,11 It is also found that adding an upper body to the passive robot can enhance the walking stability to the robot. 12 Different types of passive models [13][14][15] were optimized to obtain a better walking performance based on the local stability analysis or global stability analysis with cell mapping method.…”

Section: Introductionmentioning

confidence: 99%

Influence of the swing ankle angle on walking stability for a passive dynamic walking robot with flat feet

Zang

Liu

et al. 2016

Advances in Mechanical Engineering

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To achieve high walking stability for a passive dynamic walking robot is not easy. In this article, we aim to investigate whether the walking performance for a passive dynamic walking robot can be improved by just simply changing the swing ankle angle before impact. To validate this idea, a passive bipedal walking model with two straight legs, two flat feet, a hip joint, and two ankle joints was built in this study. The walking dynamics that contains double stance phase was derived. By numerical simulation of the walking in MATLAB, we found that the walking performance can be adjusted effectively by only simply changing the swing ankle angle before impact. A bigger swing ankle angle in a reasonable range will lead to a higher walking stability and a lower initial walking speed of the next step. A bigger swing ankle angle before impact leads to a bigger amount of energy lost during impact for the quasi-passive dynamic walking robot which will influence the walking stability of the next step.

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“…Wisse et al [7]- [9] studied a 2D passive walker with flat feet and ankle springs by utilizing the equivalence between the torsional spring and the arc-shaped feet. Therefore, the arc-shaped feet can be replaced by flat feet that are mounted on ankles with torsional spring stiffness.…”

Section: Introductionmentioning

confidence: 99%

Level-Ground Walking for 3D Quasi-Passive Walker with Flat Feet - Lateral-plane Input using McKibben-Type Artificial Muscle -

Yamamoto

Fujimoto

Kinugasa

2016

MATEC Web of Conferences

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Abstract. Currently, many bipedal robots have been proposed to realize the high energy efficiency walking. The passive dynamic walking does not require control input. Generally, a foot of passive dynamic walking robot is an arc foot. In this paper, it is intended to establish a control method and control mechanism to achieve energy efficient and stable gate. Therefore, we developed 3D quasi-passive walker with flat feet driven by an antagonistic pneumatic artificial muscle. An antagonistic mechanism is constituted by a pair of McKibben muscle. And an antagonistic pneumatic system is used as joint actuators of linkage mechanisms which control the torque, joint stiffness and position simultaneously. Finally, this report shows that the 3D quasi-passive walking in the level ground can realize by the swinging (simple) input of the frontal direction, and the stride of the robot is proportional to lateral-plane input.

show abstract

Ankle springs instead of arc-shaped feet for passive dynamic walkers

Cited by 70 publications

References 15 publications

An Experimental Study of Three-Dimensional Passive Dynamic Walking with Flat Feet and Ankle Springs

An Experimental Study of Three-Dimensional Passive Dynamic Walking with Flat Feet and Ankle Springs

Influence of the swing ankle angle on walking stability for a passive dynamic walking robot with flat feet

Level-Ground Walking for 3D Quasi-Passive Walker with Flat Feet - Lateral-plane Input using McKibben-Type Artificial Muscle -

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