Experimental Verification of Adaptive Function Inherent in Passive Dynamic Walking and Walking Motion Stabilization Applying the Function

2020 ◽  
Vol 56 (12) ◽  
pp. 551-559
Author(s):  
Masatsugu IRIBE ◽  
Ryoichi HIROUJI ◽  
Daisuke URA ◽  
Koichi OSUKA ◽  
Tetsuya KINUGASA
Keyword(s):  
Experimental Verification ◽  
Dynamic Walking ◽  
Adaptive Function ◽  
Passive Dynamic Walking ◽  
Walking Motion ◽  
Motion Stabilization

scholarly journals Experimental verification of the characteristic behaviors in passive dynamic walking

2021 ◽  
Author(s):  
Masatsugu Iribe ◽  
Ryoichi Hirouji ◽  
Daisuke Ura ◽  
Koichi Osuka ◽  
Tetsuya Kinugasa
Keyword(s):  
Numerical Simulations ◽  
Experimental Verification ◽  
Chaotic Behavior ◽  
Adaptive Behaviors ◽  
Robot Design ◽  
Legged Robot ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Environment Changes

AbstractIt is well known that passive dynamic walking shows chaotic behavior owing to changes in the environment. In addition, when the environment changes continuously during walking, passive dynamic walking shows “adaptive behaviors” in which the stride angle changes itself in an attempt to keep walking. These behaviors are very interesting and useful for the legged robot design. However, the studies on passive dynamic walking are preceded only by numerical simulations. For this reason, it is very important to confirm, by actual experiments, whether these characteristic behaviors appear. In this paper, we verify the existence of these behaviors by several actual experiments.

Estimation of the Stable Fixed Point of Passive Dynamic Walking with BP Neural Network

ROBOT ◽  
2010 ◽  
Vol 32 (4) ◽  
pp. 478-483 ◽  
Author(s):  
Xiuhua NI ◽  
Weishan CHEN ◽  
Junkao LIU ◽  
Shengjun SHI
Keyword(s):  
Neural Network ◽  
Fixed Point ◽  
Bp Neural Network ◽  
Stable Fixed Point ◽  
Dynamic Walking ◽  
Passive Dynamic Walking

A passive dynamic walking model with Coulomb friction at the hip joint

Robotica ◽  
2013 ◽  
Vol 31 (8) ◽  
pp. 1221-1227 ◽  
Author(s):  
Wenhao Guo ◽  
Tianshu Wang ◽  
Qi Wang
Keyword(s):  
Hip Joint ◽  
Coulomb Friction ◽  
Basins Of Attraction ◽  
Swing Phase ◽  
Dynamic Equations ◽  
Two Dimensional ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Impact Phase ◽  
The Impact

SUMMARYThis paper presents a modified passive dynamic walking model with hip friction. We add Coulomb friction to the hip joint of a two-dimensional straight-legged passive dynamic walker. The walking map is divided into two parts – the swing phase and the impact phase. Coulomb friction and impact make the model's dynamic equations nonlinear and non-smooth, and a numerical algorithm is given to deal with this model. We study the effects of hip friction on gait and obtain basins of attraction of different coefficients of friction.

Sign in / Sign up

Export Citation Format

Share Document