Based on Biped Robot Walking in Horizontal Surface Research of Dynamic Simulation

2011 ◽  
Vol 301-303 ◽  
pp. 707-712
Author(s):  
Hong Bo Wang
Keyword(s):  
Dynamic Simulation ◽  
Gait Cycle ◽  
Sagittal Plane ◽  
Biped Robot ◽  
Biped Locomotion ◽  
Walking Motion ◽  
Impact Phase ◽  
Single Support Phase ◽  
The Impact ◽  
Support Phase

The purpose of this thesis is to develop a dynamic model of biped locomotion and implement a suitable controller for it . The locomotion aimed to be realized in this thesis is walking on a flat horizontal sueface in the sagittal plane. a planar five-link biped robot , which consists of a torso, two thighs and two shanks, with five degree of freedom is modeled. A gait cycle of the walking motion includes the single support phase(SSP), the impact phase and the support end exchange phase. The dynamic equation at SSP is derived by using the Lagrangian formulation and the impact equation is derivd by using the momention change caused by the nonconservative force during impact and the constraint imposed in the impact leg.

A force-resisting balance control strategy for a walking biped robot under an unknown, continuous force

Robotica ◽  
2014 ◽  
Vol 34 (7) ◽  
pp. 1495-1516
Author(s):  
Yeoun-Jae Kim ◽  
Joon-Yong Lee ◽  
Ju-Jang Lee
Keyword(s):  
External Force ◽  
Control Strategy ◽  
Balance Control ◽  
Biped Robot ◽  
Second Step ◽  
Double Support ◽  
Zero Moment ◽  
External Forces ◽  
Single Support Phase ◽  
Support Phase

SUMMARYIn this paper, we propose and examine a force-resisting balance control strategy for a walking biped robot under the application of a sudden unknown, continuous force. We assume that the external force is acting on the pelvis of a walking biped robot and that the external force in the z-direction is negligible compared to the external forces in the x- and y-directions. The main control strategy involves moving the zero moment point (ZMP) of the walking robot to the center of the robot's sole resisting the externally applied force. This strategy is divided into three steps. The first step is to detect an abnormal situation in which an unknown continuous force is applied by examining the position of the ZMP. The second step is to move the ZMP of the robot to the center of the sole resisting the external force. The third step is to have the biped robot convert from single support phase (SSP) to double support phase (DSP) for an increased force-resisting capability. Computer simulations and experiments of the proposed methods are performed to benchmark the suggested control strategy.

GENERAL MODEL OF DYNAMICS OF HUMAN AND HUMANOID MOTION: FEASIBILITY, POTENTIALS AND VERIFICATION

2006 ◽  
Vol 03 (01) ◽  
pp. 21-47 ◽  
Author(s):  
VELJKO POTKONJAK ◽  
MIOMIR VUKOBRATOVIĆ ◽  
KALMAN BABKOVIĆ ◽  
BRANISLAV BOROVAC
Keyword(s):  
General Problem ◽  
General Model ◽  
Real Motion ◽  
Inductive Approach ◽  
Special Cases ◽  
Bipedal Gait ◽  
Simulated Motion ◽  
Single Support Phase ◽  
The Impact ◽  
Support Phase

This paper elaborates a generalized approach to the modeling of human and humanoid motion. Instead of the usual inductive approach that starts from the analysis of different situations of real motion (like bipedal gait and running; playing tennis, soccer, or volleyball; gymnastics on the floor or using some gymnastic apparatus) and tries to make a generalization, the deductive approach considered begins by formulating a completely general problem and deriving different real situations as special cases. The paper first explains the general methodology. The concept and the software realization are verified by comparing the results with the ones obtained by using "classical" software for one particular well-known problem: biped walk. The applicability and potentials of the proposed method are demonstrated by simulation using a selected example. The simulated motion includes a landing on one foot (after a jump), the impact, a dynamically balanced single-support phase, and overturning (falling down) when the balance is lost. It is shown that the same methodology and the same software can cover all these phases.

Functional Hallux Limitus or Rigidus Caused by a Tenodesis Effect at the Retrotalar Pulley

2010 ◽  
Vol 100 (3) ◽  
pp. 220-229 ◽  
Author(s):  
Jacques Vallotton ◽  
Santiago Echeverri ◽  
Vinciane Dobbelaere-Nicolas
Keyword(s):  
Back Pain ◽  
Sagittal Plane ◽  
Metatarsophalangeal Joint ◽  
Flexor Hallucis Longus ◽  
Mechanical Support ◽  
Review Of The Literature ◽  
Hallux Limitus ◽  
Lower Back ◽  
Single Support Phase ◽  
Support Phase

Functional hallux limitus is a loss of metatarsophalangeal joint extension during the second half of the single-support phase, when the weightbearing foot is in maximal dorsiflexion. Functionally, it constitutes a sagittal plane blockade during gait. As a result, the mechanical support and stability mechanisms of the foot are disrupted, with important consequences during gait. Functional hallux limitus is a frequent, though relatively unknown condition that clinicians may overlook when examining patients with complaints that are not limited to their feet, for they can also present other symptoms such as hip, knee and lower-back pain. The purpose of this article is to present a critical review of the literature on functional hallux limitus and to explain a previously described and simple diagnostic test (flexor hallucis longus stretch test) and a physiotherapeutic manipulation (the Hoover cord maneuver) that recovers the dorsiflexion of the hallux releasing the tenodesis effect at the retrotalar pulley, which according to our clinical experience is the main cause of functional hallux limitus. The latter, to the best of our knowledge, has never been described before. (J Am Podiatr Med Assoc 100(3): 220–229, 2010)

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