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	Analyzing effects of ankle-foot parameters on passive bipeds based on dynamic walking modeling
	Mai, Jingeng ; Gao, Yue ; Huang, Yan ; Wang, Qining ; Zhang, Lin
	2012
DOI	10.1007/978-3-642-34384-1_17
英文摘要	Though people's usual gaits tend to be natural and simple, the theoretical modeling and analysis are complicated based on the remarkable fact that the walking motion is a complex dynamic phenomenon. In this paper, we build a passive dynamic bipedal walking model with flat feet and compliant ankle joints. The bipedal walker travels on a slope actuated by the gravity. We analyze effects of ankle-foot parameters on walking characteristics based on dynamic walking modeling. Simulation results demonstrate that the model can perform stable walking cycle. The effects of ankle-foot parameters on motion characteristics with different ankle stiffness are shown in detail. ? Springer-Verlag Berlin Heidelberg 2012.; EI; 0
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/316787]
专题	工学院
推荐引用方式 GB/T 7714	Mai, Jingeng,Gao, Yue,Huang, Yan,et al. Analyzing effects of ankle-foot parameters on passive bipeds based on dynamic walking modeling[C]. 见:.

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