Hostname: page-component-586b7cd67f-t8hqh Total loading time: 0 Render date: 2024-11-24T18:14:49.006Z Has data issue: false hasContentIssue false
  • English
  • Français

Passive dynamic walking with flat feet and ankle compliance

Published online by Cambridge University Press:  22 May 2009

Qining Wang ,
Yan Huang  and
Long Wang
Qining Wang*
Affiliation:
Intelligent Control Laboratory, Center for Systems and Control, Department of Mechanics and Aerospace Engineering, Peking University, Beijing 100871, China Key Laboratory of Machine Perception (Ministry of Education), Peking University, Beijing 100871, China
Yan Huang
Affiliation:
Intelligent Control Laboratory, Center for Systems and Control, Department of Mechanics and Aerospace Engineering, Peking University, Beijing 100871, China Key Laboratory of Machine Perception (Ministry of Education), Peking University, Beijing 100871, China
Long Wang
Affiliation:
Intelligent Control Laboratory, Center for Systems and Control, Department of Mechanics and Aerospace Engineering, Peking University, Beijing 100871, China Key Laboratory of Machine Perception (Ministry of Education), Peking University, Beijing 100871, China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a bipedal locomotion model for passive dynamic walking with flat feet and compliant ankles. The two-dimensional seven-link model extends the simplest walking model with the addition of hip actuation, knee joints, flat feet and torsional springs based compliance on ankle joints, concerning heel-strike and toe-strike transitions, to achieve adaptive bipedal locomotion on level ground with controllable walking speed. We investigate the effects of foot geometric parameters and ankles stiffness on bipedal walking. The model achieves satisfactory walking results not only on even ground but also on uneven terrain with no active control and on different walking velocities. In addition, from the view of stability, there is an optimal foot-ankle ratio of the passivity-based walker. The results can be used to explore further understanding of bipedal walking, and help the design of future intelligent ankle-foot prosthesis and passivity-based robot prototypes towards more practical uses.

Keywords

Passive dynamic walkingBipedFlat footAnkle complianceLocomotion
Type
Article
Information
Robotica , Volume 28 , Issue 3 , May 2010 , pp. 413 - 425
Copyright
Copyright © Cambridge University Press 2009

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.McGeer, T., “Passive dynamic walking,” Int. J. Robot. Res. 9, 68–82 (1990).CrossRefGoogle Scholar
2.Mochon, S. and McMahon, T. A., “Ballistic walking,” J. Biomech. 13 (1), 49–57 (1980).CrossRefGoogle ScholarPubMed
3.Collins, S., Wisse, M. and Ruina, A., “A three-dimensional passive-dynamic walking robot with two legs and knees,” Int. J. Robot. Res. 20, 607–615 (2001).CrossRefGoogle Scholar
4.Collins, S., Ruina, A., Tedrake, R. and Wisse, M., “Efficient bipedal robots based on passive-dynamic walkers,” Science 307, 1082–1085 (2005).CrossRefGoogle ScholarPubMed
5.Wisse, M., Schwab, A. L. and Van der Helm, F. C. T., “Passive dynamic walking model with upper body,” Robotica 22, 681–688 (2004).CrossRefGoogle Scholar
6.Wisse, M., Hobbelen, D. G. E. and Schwab, A. L., “Adding an upper body to passive dynamic walking robots by means of a bisecting hip mechanism,” IEEE Trans. Robot. 23 (1), 112–123 (2007).CrossRefGoogle Scholar
7.Wisse, M., Hobbelen, D. G. E., Rotteveel, R. J. J., Anderson, S. O. and Zeglin, G. J., “Ankle Springs Instead of Arc-Shaped Feet for Passive Dynamic Walkers,” Proceedings of the 2006 IEEE International Conference on Humanoids, Genova, Italy (2006) pp. 110–116.Google Scholar
8.Hobbelen, D. G. E. and Wisse, M., “Ankle Joints and Flat Feet in Dynamic Walking,” International Conference on Climbing and Walking Robots, Madrid, Spain (2004).Google Scholar
9.Hobbelen, D. G. E. and Wisse, M., “Ankle actuation for limit cycle walkers,” Int. J. Robot. Res. 27 (6), 709–735 (2008).CrossRefGoogle Scholar
10.Dertien, E., “Dynamic walking with dribbel,” IEEE Robot. Autom. Mag. 13 (3), 118–122 (2006).CrossRefGoogle Scholar
11.Garcia, M., Chatterjee, A., Ruina, A. and Coleman, M., “The simplest walking model: Stability, complexity, and scaling,” ASME J. Biomech. Eng. 120, 281–288 (1998).CrossRefGoogle ScholarPubMed
12.Ruina, A., Bertram, J. E. A. and Srinivasan, M., “A collisional model of the energetic cost of support work qualitatively explains leg sequencing in walking and galloping, pseudo-elastic leg behavior in running and the walk-to-run transition,” J. Theor. Biol. 237 (2), 170–192 (2005).CrossRefGoogle ScholarPubMed
13.Ruina, A., “Passive-Dynamic Locomotion,” Fifth World Congress of Biomechanics Conference, J. Biomech. (2006) vol. 39 (Sl), S359.Google Scholar
14.Kuo, A. D., “Energetics of actively powered locomotion using the simplest walking model,” ASME J. Biomech. Eng. 124, 113–120 (2002).CrossRefGoogle ScholarPubMed
15.Kwan, M. and Hubbard, M., “Optimal foot shape for a passive dynamic biped,” J. Theor. Biol. 248, 331–339 (2007).CrossRefGoogle ScholarPubMed
16.Ralston, H. J., “Energy-speed relation and optimal speed during level walking,” Int. Z. Angew. Physiol. 17, 277–283 (1958).Google ScholarPubMed
17.Ishikawa, M., Komi, P. V., Grey, M. J., Lepola, V. and Bruggemann, G., “Muscle-tendon interaction and elastic energy usage in human walking,” J. Appl. Physiol. 99, 603–608 (2005).CrossRefGoogle ScholarPubMed
18.Kurz, M. J. and Stergiou, N., “An artificial neural network that utilizes hip joint actuations to control bifurcations and chaos in a passive dynamic bipedal walking model,” Biol. Cybern. 93, 213–221 (2005).CrossRefGoogle Scholar
19.Schuitema, E., Hobbelen, D., Jonker, P., Wisse, M. and Karssen, J., “Using a Controller Based on Reinforcement Learning for a Passive Dynamic Walking Robot,” Proceedings of the IEEE-RAS International Conference on Humanoid Robots, Tsukuba, Japan (2005) pp. 232–237.Google Scholar
20.Suzuki, S., Furuta, K. and Hatakeyama, S., “Passive walking towards running,” Math. Comput. Modelling Dyn. Syst. 11 (4), 371–395 (2005).CrossRefGoogle Scholar
21.Van Ham, R., Vanderborght, B., Verrelst, B., Van Damme, M. and Lefeber, D., “Controlled Passive Walker Veronica Powered by Actuators with Independent Control of Equilibrium Position and Compliance,” Proceedings of the 2006 IEEE International Conference on Humanoids, Genova, Italy (2006) pp. 234–239.Google Scholar
22.Mandersloot, T., Wisse, M. and Atkeson, C. G., “Controlling Velocity in Bipedal Walking: a Dynamic Programming Approach,” Proceedings of the 2006 IEEE International Conference on Humanoids, Genova, Italy (2006) pp. 124–130.Google Scholar
23.Van Oort, G. and Stramigioli, S., “Velocity Control of a 2D Dynamic Walking Robot,” Proceedings of the 26th Benelux Meeting on Systems and Control, Lommel, Belgium (2007).Google Scholar
24.Wang, Q., Zhu, J. and Wang, L., “Passivity-Based Three-Dimensional Bipedal Robot with Compliant Legs,” Proceedings of the SICE Annual Conference, Chofu, Japan (2008).Google Scholar