NDLI: Passive frontal plane coupling in 3D walking

Content Provider	IEEE Xplore Digital Library
Author	Sovero, S.E. Saglam, C.O. Byl, K.
Copyright Year	2015
Description	Author affiliation: Dept. of Electr. Eng., Univ. of Calfornia, Santa Barbara, CA, USA (Saglam, C.O.; Byl, K.) \|\| Mech. Eng. Dept., Univ. of California, Santa Barbara, Santa Barbara, CA, USA (Sovero, S.E.)
Abstract	This paper explores the use of a single passive design to stabilize frontal plane dynamics for 3D biped walking across a range of forward velocities and/or step lengths. Particular goals are to determine if design of sagittal plane control can be done independently from design of frontal plane stabilization mechanisms, and to explore how dynamic coupling between the two planned motions affects energetic efficiency of walking. Passive dynamic walkers have long utilized curved feet for low energy frontal plane stabilization in 3D walking, with the current design practice of matching the linearized resonance of the curvature to match a particular, steady-state walking gait to achieve stable coupled limit cycle in 3D dynamics. However, practical legged walking systems should operate across a range of velocities and step widths. We examine aspects of the nonlinear dynamics that contribute to the energy efficiency and stability of the system through simulations. Specifically, we focus on the tight coupling between the frontal plane dynamics and stepping speed. We find that roll velocity is strongly coupled to the stepping speed and energy consumption. Our decoupled analysis explains some aspects of the 3D motions; however, the actual effects on cost of transport demonstrate interesting phenomena we had not anticipated. Specifically, while a general trend of increasing cost of transport for 3D vs 2D gaits with stride time does hold in our simulations, the 3D gaits sometimes require less energy than their constrained 2D counterparts, which was a surprising and encouraging result. This work provides a promising direction for the development of practical methods to utilize control designed for planar 2D walking models on more sophisticated 3D dynamic models using little or no additional active control.
Starting Page	1605
Ending Page	1611
File Size	388273
Page Count	7
File Format	PDF
e-ISBN	9781479999941
DOI	10.1109/IROS.2015.7353582
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-28
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Foot Three-dimensional displays Couplings Solid modeling
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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