Dynamic Walking Analysis of the Ankle-Driven Quasi-Passive Walking Machines
Toshinari Akimoto, Nobuyuki Terada, and Akihiro Matsumoto
Dept. of System Robotics, Toyo University, Kujirai 2100, Kawagoe, Saitama 350-8585, Japan
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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