JRM Vol.20 No.2 pp. 200-205
doi: 10.20965/jrm.2008.p0200


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

September 5, 2007
November 8, 2007
April 20, 2008
passive-dynamic walking, quasi-passive-dynamic walking, penalty function
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.
Cite this article as:
T. Akimoto, N. Terada, and A. Matsumoto, “Dynamic Walking Analysis of the Ankle-Driven Quasi-Passive Walking Machines,” J. Robot. Mechatron., Vol.20 No.2, pp. 200-205, 2008.
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