Dynamic Walking Analysis of the Ankle-Driven Quasi-Passive Walking Machines | Zendy

Toshinari AKIMOTO | Zendy; Nobuyuki Terada | Zendy; Akihiro Matsumoto | Zendy

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Dynamic Walking Analysis of the Ankle-Driven Quasi-Passive Walking Machines

Author(s) -

Toshinari AKIMOTO,

Nobuyuki Terada,

Akihiro Matsumoto

Publication year - 2008

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2008.p0200

Subject(s) - torque , brake , preferred walking speed , computer science , ankle , control theory (sociology) , power walking , simulation , engineering , automotive engineering , physical medicine and rehabilitation , artificial intelligence , physics , control (management) , medicine , pathology , thermodynamics

We designed and developed an ankle-driven quasi-passive dynamic walking machine and modeled it focusing on the double-stance phase for accurate analyzing realistic movement. We used a penalty function to formulate a motion equation and changed the walking speed of an ankle-driven walking machine by changing kick and brake torque. Computer simulation confirmed the feasibility of brake torque from the energy point of view and walking stability.

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