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Modelling, stability and biomechanical implications of three DOF passive bipedal gait
Modelamiento, estabilidad e implicaciones biomecánicas de la caminata bípeda pasiva con tres grados de libertad
DOI:
https://doi.org/10.15446/ing.investig.v27n2.14833Keywords:
passive gait, kneed passive walker, human gait (en)caminata pasiva, caminador pasivo con rodilla, marcha humana (es)
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Passive dynamic walkers can achieve a steady gait down an inclined plane simply by the influence of gravity.
This article presents the modelling of a 3 DOF passive bipedal walker, searching for a relationship between gait characteristics, the robot's physical properties and the slope of the plane. The proposed adimensional dynamical model’s equations are also given, implementing and modelling the dynamics is described and the main results are presented. Limits on robotic parameters leading to establishing stable limit cycles are also analysed as periodic doubling bifurcations appear to be natural in passive gait. Interesting results arose when comparing natural passive walking with human bipedal locomotion.
Los caminadores bípedos pasivos pueden lograr una caminata estable descendiendo por un plano inclinado solamente bajo la influencia de la atracción gravitacional. Este artículo presenta el modelamiento de un caminador bípedo pasivo de tres grados de libertad, buscando la relación entre las características de la caminata, las propiedades físicas del robot y la inclinación del plano. Se incluyen las ecuaciones del modelo dinámico adimensional propuesto para estudiar el caminador, se describen el proceso de implementación y modelamiento y los principales resultados obtenidos. Se analizan también los limites en los parámetros del robot que permiten obtener ciclos límites estables, ya que aparecen bifurcaciones dobles periódicas que aparentemente son naturales en la caminata pasiva. Finalmente, se hallan resultados interesantes cuando se compara la caminata natural pasiva con la locomoción bípeda humana.
References
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Copyright (c) 2007 Máximo Alejandro Roa Garzón, Camilo Villegas, Diego Alexander Garzón Alvarado
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