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ICRA
1998
IEEE

Speed, Efficiency and Stability of Small-Slope 2-D Passive Dynamic Bipedal Walking

10 years 5 months ago
Speed, Efficiency and Stability of Small-Slope 2-D Passive Dynamic Bipedal Walking
This paper addresses some performance limits of the kneed and non-kneed passive-dynamic walking machines discovered by McGeer [10, 11]. Energetic inefficiency is measured by the slope needed to sustain gait, with = 0 being perfectly efficient. We show some necessary conditions on the walker mass distribution to achieve perfectly efficient walking. From our experience and study of a simpler model, only two gaits exist; the longer-step gait is stable at small enough slopes. Speed is regulated by energy dissipation. Dissipation can be dominated by a term proportional to speed2 or a term proportional to speed4 from normal foot collisions, depending on the gait, slope, and walker design. For special mass distributions of kneeless walkers, the long-step gaits are especially fast at small slopes. A period doubling route to chaos is numerically demonstrated for the kneed walker.
Mariano Garcia, Anindya Chatterjee, Andy Ruina
Added 04 Aug 2010
Updated 04 Aug 2010
Type Conference
Year 1998
Where ICRA
Authors Mariano Garcia, Anindya Chatterjee, Andy Ruina
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