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Published in:
2012 | OriginalPaper | Chapter
Analyzing Effects of Ankle-Foot Parameters on Passive Bipeds Based on Dynamic Walking Modeling
Authors : Jingeng Mai, Yue Gao, Yan Huang, Qining Wang, Lin Zhang
Published in: AsiaSim 2012
Publisher: Springer Berlin Heidelberg
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Though people’s usual gaits tend to be natural and simple, the theoretical modeling and analysis are complicated based on the remarkable fact that the walking motion is a complex dynamic phenomenon. In this paper, we build a passive dynamic bipedal walking model with flat feet and compliant ankle joints. The bipedal walker travels on a slope actuated by the gravity. We analyze effects of ankle-foot parameters on walking characteristics based on dynamic walking modeling. Simulation results demonstrate that the model can perform stable walking cycle. The effects of ankle-foot parameters on motion characteristics with different ankle stiffness are shown in detail.