TY - GEN
T1 - Experimental validation of a walking model for planar bipeds with curved feet
AU - Martin, Anne Elizabeth
AU - Schmiedeler, James P.
PY - 2011
Y1 - 2011
N2 - Bipeds with curved feet typically require less energy for walking than do pointor flat-footed bipeds, and they tend to mimic human gait more closely. Thus, understanding the effects of curved feet on bipedal walking gaits has the potential to improve both humanoid robot efficiency and human rehabilitation. This paper derives the equations of motion for planar bipeds with curved feet under the assumption, among others, of instantaneous transfer of support between the legs. The paper then verifies the mathematical model by comparing the results of simulation to previous experimental results for two very different bipedal robots-McGeer's two-link, passive dynamic walker traversing a decline and the five-link, actuated biped ERNIE walking on a treadmill with a supporting boom. In both cases, the results from simulation match the experimental results very well despite the simplifying assumptions, indicating that the mathematical model captures the dominate dynamics of bipedal robots with curved feet.
AB - Bipeds with curved feet typically require less energy for walking than do pointor flat-footed bipeds, and they tend to mimic human gait more closely. Thus, understanding the effects of curved feet on bipedal walking gaits has the potential to improve both humanoid robot efficiency and human rehabilitation. This paper derives the equations of motion for planar bipeds with curved feet under the assumption, among others, of instantaneous transfer of support between the legs. The paper then verifies the mathematical model by comparing the results of simulation to previous experimental results for two very different bipedal robots-McGeer's two-link, passive dynamic walker traversing a decline and the five-link, actuated biped ERNIE walking on a treadmill with a supporting boom. In both cases, the results from simulation match the experimental results very well despite the simplifying assumptions, indicating that the mathematical model captures the dominate dynamics of bipedal robots with curved feet.
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U2 - 10.1115/DETC2011-48243
DO - 10.1115/DETC2011-48243
M3 - Conference contribution
AN - SCOPUS:84863588503
SN - 9780791854839
T3 - Proceedings of the ASME Design Engineering Technical Conference
SP - 777
EP - 785
BT - ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
T2 - ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
Y2 - 28 August 2011 through 31 August 2011
ER -