The effects of Parameters on the Stability of Passive Dynamic Walking

摘要：

We studied the effects of parameters on the stability of passive dynamic walking by simulations and experiments. For simulations, we quantified the stability as the largest amount of lowing that the virtual prototype could still recover from and continue walking to the end. We used the ADAMS software to obtain this largest amount lowing. For experiments, we quantified the stability of each walker by observing 100 passive walking trials down a gentle slope of finite length and recording the fraction of trials which successfully walked to the end. This study provides a guide for designing passive dynamic walkers with high stability. This might also be used for designing prosthetic legs.

关键词： passive dyanmic walking stability ADAMS

作者: Xiuhua Ni Weishan Chen Junkao Liu

作者单位: State Key Laboratory of Robotics and System,Harbin Institute of Technology Harbin,China

会议类型: 国际会议

会议名称: The 3rd International Conference on Bioinformatics and Biomedical Engineering(iCBBE 2009)(第三届生物信息与生物医学工程国际会议)

会议地点: 北京

会议语种:英文

页码: 1-4

在线出版日期: 2009-06-11（万方平台首次上网日期，不代表论文的发表时间）