Search engine for discovering works of Art, research articles, and books related to Art and Culture
Javascript must be enabled to continue!
Periodic motion patterns and walking efficiency in a fully actuated biped model
View through CrossRef
Abstract
To ensure stable motion of the biped robot on horizontal ground, a fully actuated walking dynamics model is employed, incorporating heel impulse thrust on the support leg along with actuation torques at the hip and ankle joints.
A controlled Poincaré map is obtained by linearising the continuous dynamics. 
The existence and stability of periodic motion is studied by the Poincaré map. 
Moreover, the flip bifurcation triggering the route from period-1 motion to chaos is investigated. 
In addition, the walking efficiency of the fully actuated biped is analysed using the ratio of speed to cost of transport as an indicator. 
Both analytical derivation and numerical results confirm the stability of period-1 and period-2 gaits in the biped model. 
By distributing the torques reasonably, there exists a set of torques that make the energy efficiency of the fully actuated biped model higher than that of the underactuated biped model.
Title: Periodic motion patterns and walking efficiency in a fully actuated biped model
Description:
Abstract
To ensure stable motion of the biped robot on horizontal ground, a fully actuated walking dynamics model is employed, incorporating heel impulse thrust on the support leg along with actuation torques at the hip and ankle joints.

A controlled Poincaré map is obtained by linearising the continuous dynamics.

The existence and stability of periodic motion is studied by the Poincaré map.

Moreover, the flip bifurcation triggering the route from period-1 motion to chaos is investigated.

In addition, the walking efficiency of the fully actuated biped is analysed using the ratio of speed to cost of transport as an indicator.

Both analytical derivation and numerical results confirm the stability of period-1 and period-2 gaits in the biped model.

By distributing the torques reasonably, there exists a set of torques that make the energy efficiency of the fully actuated biped model higher than that of the underactuated biped model.
Related Results
Walkability; The Relationship of Walking Distance, Walking Time and Walking Speed
Walkability; The Relationship of Walking Distance, Walking Time and Walking Speed
Walking is cheap and healthy. It is the main transportation for the majority of students exploring their daily life in their campus area. Different types of people will have variou...
Control of Dynamic Biped Walking Robot
Control of Dynamic Biped Walking Robot
The objective of this article is to present control algorithms of biped dynamic walking robot. A mathematical model of the walking robot is compiled. The construction of the robot ...
Synchronization transition with coexistence of attractors in coupled discontinuous system
Synchronization transition with coexistence of attractors in coupled discontinuous system
The studies of extended dynamics systems are relevant to the understanding of spatiotemporal patterns observed in diverse fields. One of the well-established models for such comple...
Comparison of Hip and Low Back Loads between Normal Gait, Axillary Crutch Ambulation and Walking with a Hands-free Crutch in a Healthy Population
Comparison of Hip and Low Back Loads between Normal Gait, Axillary Crutch Ambulation and Walking with a Hands-free Crutch in a Healthy Population
Background Instead of using axillary crutches, using a hands-free crutch (HFC) has been associated with higher functional outcome scores. However, hip and back pain have been repor...
Neural based RSPN multi-agent strategy for biped motion control
Neural based RSPN multi-agent strategy for biped motion control
In this paper fhe problem of motion control of a
biped is considered. We develop a new method based on
multi-agent associated Neural AIGLS (On-line Augmented Integration of Gradi...
Measurement of Human Walking Movements by Using a Mobile Health App: Motion Sensor Data Analysis (Preprint)
Measurement of Human Walking Movements by Using a Mobile Health App: Motion Sensor Data Analysis (Preprint)
BACKGROUND
This study presents a new approach to measure and analyze the walking balance of humans by collecting motion sensor data in a smartphone.
...
Passive Walking Biped Robot Model with Flexible Viscoelastic Legs
Passive Walking Biped Robot Model with Flexible Viscoelastic Legs
Abstract
To simulate the complex human walking motion accurately, a suitable biped model has to be proposed that can significantly translate the compliance of biological st...
Hardware CPG Model That Generates Time Series Neural Signal Patterns for Controlling Human Walking and Running
Hardware CPG Model That Generates Time Series Neural Signal Patterns for Controlling Human Walking and Running
Abstract
A hardware CPG model for biped gait control using pulse-type hardware neural networks(P-HNNs) composed of analog electronic circuits to generate time-series neural...