Dynamic stability of passive bipedal walking on rough terrain: A preliminary simulation study

Afshar, Parsa Nassiri; Ren, Lei

doi:10.1016/s1672-6529(11)60139-x

Cited by 13 publications

(5 citation statements)

References 34 publications

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“…The limited understanding of human stability control is reflected by the fragmentation of currently available models for the locomotion [9,20,21,35,49,56,89,109,118]. In addition, the complexity of the phenomenon and even simple passive walkers manifests variegated dynamics when deployed on rough terrains [78,79]. This questions the source of variety in such behaviours and the limiting factor for the current models to replicate the bipedal dynamics.…”

Section: Controlmentioning

confidence: 99%

“…The principal models are:• The Inverted Pendulum and Compass Gait: These formulations rely on the analogy between the legs and an inverted pendulum. Being a good and simple analogy, it is accurate to describe the system dynamic during single support[20,21,62,[77][78][79][80][81][82][83][84]. The basic formulations of these models assume a rigid system and a rigid isometric environment.…”

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confidence: 99%

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Modelling of bipedal locomotion for the development of a compliant pelvic interface between human and a balance assistant robot

Tiseo¹

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With the rapidly ageing of the world' s population, the WHO predicted that, by 2050, there will be about one billion people who are 65 years or older suffering from mobility-related problems. Robotic rehabilitation has been proven to provide effective therapies for people with motor deficiencies. Although multiple solutions have been developed for both balance and gait rehabilitation, both exoskeletons and robotic walkers have been shown to not have any benefit when compared with current therapies. A possible justification is a significant alteration of the activity dynamics (i.e. balance and locomotion) that prevents the skill translatability in daily living. The current knowledge about bipedal dynamics was reviewed to identify a viable solution for the improvement of both locomotion and balance therapy. The review revealed a gap in the current knowledge in the human balance and locomotion motor control, which does not provide a satisfactory explanation of how humans control and optimize their locomotion. The following hypotheses have been developed to address the limitations of bipedal models: first, the brain accounts for fixed fulcrum for the legs' inverted pendulum model, and second, the legs are not simply synchronised but are deployed as coupled oscillators. These hypotheses have enabled the formulation of an algebraic model for human locomotion that has been tested against data from multiple experiments. The results show that the proposed [167] C. Tiseo, W. T. Ang, and C. Y. Shee, "Dynamics of the mobile robotic balance trainer: Study of the pentagonal closed chain properties in

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Section: Controlmentioning

confidence: 99%

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confidence: 99%

Modelling of bipedal locomotion for the development of a compliant pelvic interface between human and a balance assistant robot

Tiseo¹

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“…When the swing foot gets in contact with the ground, the walker enters the double support phase. Many researchers assume the double support phase to be instantaneous, and model the interaction between the swing foot and the ground as an inelastic rigid impact [7, 10, 21, 22], such that the swing foot will not rebound or slip after impact. However, the contact constraint cannot be preserved without proper contact force control in practice.…”

Section: Dynamicsmentioning

confidence: 99%

Compliant Biped Walking on Uneven Terrain with Point Feet

Hou

Zhang

Chen

et al. 2016

International Journal of Advanced Robotic Systems

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In this paper, we aim to realize compliant biped walking on uneven terrain with point feet. A control system is designed for a 5-link planar biped walker. According to the role that each leg plays, the control system is decomposed into two parts: the swing leg control and the support leg control. The trajectory of the swing foot is generated in realtime to regulate the walking speed. By considering the reaction torque of the swing leg's hip joint as disturbance, a sliding model controller is implemented at the support leg's hip joint to control the torso's posture angle. In order to make sure the landing foot does not rebound after impact, the vertical contact force control is set as the internal loop of the hip's height control. In simulation, the control system is tested on a virtual 5-link planar biped walker in Matlab. Finally, stable biped walking is realized on uneven terrain with roughness up to 2cm.

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“…However, the absence of actuators yields a highly fragile basin of attraction, limiting the locomotion capabilities of PCB to slightly inclined downhill terrains. Such pas-sive models exhibit even more limited performance on rough terrains (Su andDingwell 2007, Afshar andRen 2012). Adaptation to such terrains and compensation for perturbations require a large basin of attraction with active control.…”

Section: Introductionmentioning

confidence: 99%

Efficient bipedal locomotion on rough terrain via compliant ankle actuation with energy regulation

et al. 2021

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Legged locomotion enables robotic platforms to traverse on rough terrain, which is quite challenging for other locomotion types, such as in wheeled and tracked systems. However, this benefit-moving robustly on rough terrain-comes with an inherent drawback due to the higher cost of transport in legged robots. The ultimate need for energy efficiency motivated the utilization of passive dynamics in legged locomotion. Nevertheless, a handicap in passive dynamic walking is the fragile basin of attraction that limits the locomotion capabilities of such systems. There have been various extensions to overcome such limitations by incorporating additional actuators and active control approaches at the expense of compromising the benefits of passivity. Here, we present a novel actuation and control framework, enabling efficient and sustained bipedal locomotion on significantly rough terrain. The proposed approach reinforces the passive dynamics by intermittent active feedback control within a bio-inspired compliant ankle actuation framework. Specifically, we use once-per-step energy regulation to adjust the spring precompression of the compliant ankle based on the liftoff instants-when the toe liftoffs from the ground-of the locomotion. Our results show that the proposed approach achieves highly efficient (with a cost of transport of 0.086) sustained locomotion on rough terrain, withstanding height variations up to 15% of the leg length. We provide theoretical and numerical analysis to demonstrate the performance of our approach, including systematic comparisons with the recent and state-of-the-art techniques in the literature.

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Dynamic stability of passive bipedal walking on rough terrain: A preliminary simulation study

Cited by 13 publications

References 34 publications

Modelling of bipedal locomotion for the development of a compliant pelvic interface between human and a balance assistant robot

Modelling of bipedal locomotion for the development of a compliant pelvic interface between human and a balance assistant robot

Compliant Biped Walking on Uneven Terrain with Point Feet

Efficient bipedal locomotion on rough terrain via compliant ankle actuation with energy regulation

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