Numerical simulations of a simple planar passive walker with ankle springs

Terumasa Narukawa, Hidekazu Nishimura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents modeling and simulation study of a simple planar passive walker with ankle springs, which exhibits double support phase. Contact model of the passive walking is constructed in order to deal with various conditions of contact with the ground and the presence of impact due to foot touchdown, liftoff and possibly foot rotation over the heel or toe during walking. A foot-ground contact is simulated as a compression normal force with Coulomb friction. Numerical simulations indicated that the passive walker with flat feet and ankle springs walks down stably on a shallow slope. copyright (c) 2010 by JSME.

Original languageEnglish
Title of host publication5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
PublisherInternational Federation for the Promotion of Mechanism and Machine Science (IFToMM)
Pages644-649
Number of pages6
ISBN (Electronic)9781618390882
Publication statusPublished - 2014 Jan 1
Event5th Asian Conference on Multibody Dynamics 2010, ACMD 2010 - Kyoto, Japan
Duration: 2010 Aug 232010 Aug 27

Publication series

Name5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
Volume2

Other

Other5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
CountryJapan
CityKyoto
Period10/8/2310/8/27

ASJC Scopus subject areas

  • Mechanical Engineering
  • Automotive Engineering
  • Control and Systems Engineering

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  • Cite this

    Narukawa, T., & Nishimura, H. (2014). Numerical simulations of a simple planar passive walker with ankle springs. In 5th Asian Conference on Multibody Dynamics 2010, ACMD 2010 (pp. 644-649). (5th Asian Conference on Multibody Dynamics 2010, ACMD 2010; Vol. 2). International Federation for the Promotion of Mechanism and Machine Science (IFToMM).