EFFECTS OF FOOT SHAPE ON ENERGETIC EFFICIENCY AND DYNAMIC STABILITY OF PASSIVE DYNAMIC BIPED WITH UPPER BODY
2010 ◽
Vol 07
(02)
◽
pp. 295-313
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Keyword(s):
Passive dynamic walking has been developed as a possible explanation for the efficiency of the human gait. In this paper, we investigate the effects of foot shape on energetic efficiency and dynamic stability of passivity-based bipeds with upper body. Three walking models with point feet, round feet and flat feet were presented. Each model has an upper body constrained to keep midway between legs. We use computer simulations to find which foot shapes are indeed optimal in view of energetic efficiency and dynamic stability for a passive dynamic biped with upper body. Simulation results indicate that feet improve both the energetic efficiency and dynamic stability of passive dynamic bipeds.
2007 ◽
Vol 23
(1)
◽
pp. 112-123
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2011 ◽
Vol 2011.64
(0)
◽
pp. 119-120
2009 ◽
Vol 2009
(0)
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pp. _2P1-D03_1-_2P1-D03_2
Keyword(s):
2010 ◽
Vol 2010
(0)
◽
pp. _2A2-F03_1-_2A2-F03_2
Keyword(s):
2005 ◽
Vol 02
(04)
◽
pp. 459-478
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Keyword(s):
Optimized Configuration for the Upper Body with a Bisecting Hip Mechanism in Passive Dynamic Walking
2010 ◽
Vol 39
◽
pp. 306-311
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