Design and Prototyping a Novel 3D Passive Biped Walker with Compliant Ankle and Flat Foot

سال انتشار: 1396
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 498

متن کامل این مقاله منتشر نشده است و فقط به صورت چکیده یا چکیده مبسوط در پایگاه موجود می باشد.
توضیح: معمولا کلیه مقالاتی که کمتر از ۵ صفحه باشند در پایگاه سیویلیکا اصل مقاله (فول تکست) محسوب نمی شوند و فقط کاربران عضو بدون کسر اعتبار می توانند فایل آنها را دریافت نمایند.

استخراج به نرم افزارهای پژوهشی:

لینک ثابت به این مقاله:

شناسه ملی سند علمی:

WMECH04_100

تاریخ نمایه سازی: 11 خرداد 1397

چکیده مقاله:

Passive biped walkers who walk naturally on a slope surface without any control input, just due to gravity,are very popular nowadays. Actually, they are an excellent platform to explore dynamically stable biped robotscontrolled based on the passive dynamic walking concept. In this research, a novel 3D passive biped walker withcompliant ankle and flat foot has been designed and manufactured. It is a straight-legged compass-like biped modelhaving four Degrees-of-Freedom (DOF) in the spatial space totally; three DOFs related to the ankle joint (pitch-rollyaw)and one DOF related to the hip joint (relative pitch of two legs with respect to each other). Some experiment hasbeen also conducted to verify the design. The walker successfully exhibits several asymptotically stable periodic gaitcycles on a gentle slope ramp resembles to human walking. The experimental results show a rational sensitivity of thewalker to the initial position and velocity parameters that should be adjusted carefully.

نویسندگان

Ali Moradi

MSc. Student, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran

Mohammad Reza Sabaapour

Postdoctoral Researcher, School of Integrated Technology, Gwangju Institute of Science and Technology, South Korea

Borhan Beigzadeh

Assistant Professor, Biomechatronics and Cognitive Engineering Research Lab, School of Mechanical Engineering, IranUniversity of Science and Technology, Iran

Mohammad Reza Hairi Yazdi

Professor, School of Mechanical Engineering, University of Tehran, Tehran, Iran