@inproceedings{44e345047d654ce1a3927121e4a4745a,
title = "Adding adaptable toe stiffness affects energetic efficiency and dynamic behaviors of limit cycle walking",
abstract = "This paper presents a limit cycle walking model with segmented feet. We add adaptable ankle and joint stiffness to a limit cycle walker based on previous biological studies to further understand the effects of segmented feet on walking performance. The equilibrium position and stiffness of the toe joints vary during one step depending on the current walking phase. Both the walking phase sequence and the toe joint behavior show a great resemblance to human normal walking. Experimental results show the effects of toe parameters on walking speed, step length, energetic efficiency and the net works of ankle and toe joints, which could provide us a better understanding of segmented-foot limit cycle walkers and help in building a physical robot with toe joints.",
keywords = "Adaptable joint stiffness, Limit cycle walking, Segmented foot, Toe joint",
author = "Shiqi Sun and Yan Huang and Qining Wang",
note = "Publisher Copyright: {\textcopyright} 2014 by World Scientific Publishing Co. Pte. Ltd.; 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2014 ; Conference date: 21-07-2014 Through 23-07-2014",
year = "2014",
doi = "10.1142/9789814623353\_0042",
language = "英语",
isbn = "9789814623346",
series = "Mobile Service Robotics: Proceedings of the 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines",
publisher = "World Scientific Publishing Co. Pte Ltd",
pages = "361--368",
editor = "Krzysztof Kozlowski and Tokhi, \{Mohammad O\} and Virk, \{Gurvinder S\} and Virk, \{Gurvinder S\} and Virk, \{Gurvinder S\}",
booktitle = "Mobile Service Robotics",
}