Abstract
Passive dynamic walking has been developed as a possible explanation for the efficiency of the human gait. In this paper, we investigate the effects of foot shape on energetic efficiency and dynamic stability of passivity-based bipeds with upper body. Three walking models with point feet, round feet and flat feet were presented. Each model has an upper body constrained to keep midway between legs. We use computer simulations to find which foot shapes are indeed optimal in view of energetic efficiency and dynamic stability for a passive dynamic biped with upper body. Simulation results indicate that feet improve both the energetic efficiency and dynamic stability of passive dynamic bipeds.
| Original language | English |
|---|---|
| Pages (from-to) | 295-313 |
| Number of pages | 19 |
| Journal | International Journal of Humanoid Robotics |
| Volume | 7 |
| Issue number | 2 |
| DOIs | |
| State | Published - Jun 2010 |
| Externally published | Yes |
Keywords
- Energetic efficiency
- Foot shape
- Passive dynamic walking
- Stability
Fingerprint
Dive into the research topics of 'Effects of foot shape on energetic efficiency and dynamic stability of passive dynamic biped with upper body'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver