Numerical simulations of a simple planar passive walker with ankle springs

Terumasa Narukawa, Hidekazu Nishimura

研究成果: Conference contribution

抄録

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.

元の言語English
ホスト出版物のタイトル5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
出版者International Federation for the Promotion of Mechanism and Machine Science (IFToMM)
ページ644-649
ページ数6
2
ISBN(印刷物)9781618390882
出版物ステータスPublished - 2014
イベント5th Asian Conference on Multibody Dynamics 2010, ACMD 2010 - Kyoto, Japan
継続期間: 2010 8 232010 8 27

Other

Other5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
Japan
Kyoto
期間10/8/2310/8/27

Fingerprint

Friction
Computer simulation

ASJC Scopus subject areas

  • Mechanical Engineering
  • Automotive Engineering
  • Control and Systems Engineering

これを引用

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

Numerical simulations of a simple planar passive walker with ankle springs. / Narukawa, Terumasa; Nishimura, Hidekazu.

5th Asian Conference on Multibody Dynamics 2010, ACMD 2010. 巻 2 International Federation for the Promotion of Mechanism and Machine Science (IFToMM), 2014. p. 644-649.

研究成果: Conference contribution

Narukawa, T & Nishimura, H 2014, Numerical simulations of a simple planar passive walker with ankle springs. : 5th Asian Conference on Multibody Dynamics 2010, ACMD 2010. 巻. 2, International Federation for the Promotion of Mechanism and Machine Science (IFToMM), pp. 644-649, 5th Asian Conference on Multibody Dynamics 2010, ACMD 2010, Kyoto, Japan, 10/8/23.
Narukawa T, Nishimura H. Numerical simulations of a simple planar passive walker with ankle springs. : 5th Asian Conference on Multibody Dynamics 2010, ACMD 2010. 巻 2. International Federation for the Promotion of Mechanism and Machine Science (IFToMM). 2014. p. 644-649
Narukawa, Terumasa ; Nishimura, Hidekazu. / Numerical simulations of a simple planar passive walker with ankle springs. 5th Asian Conference on Multibody Dynamics 2010, ACMD 2010. 巻 2 International Federation for the Promotion of Mechanism and Machine Science (IFToMM), 2014. pp. 644-649
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