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.

本文言語English
ホスト出版物のタイトル5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
出版社International Federation for the Promotion of Mechanism and Machine Science (IFToMM)
ページ644-649
ページ数6
ISBN(電子版)9781618390882
出版ステータスPublished - 2014 1 1
イベント5th Asian Conference on Multibody Dynamics 2010, ACMD 2010 - Kyoto, Japan
継続期間: 2010 8 232010 8 27

出版物シリーズ

名前5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
2

Other

Other5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
国/地域Japan
CityKyoto
Period10/8/2310/8/27

ASJC Scopus subject areas

  • 機械工学
  • 自動車工学
  • 制御およびシステム工学

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