NDLI: Further Steps Toward More Human-like Passive Bipedal Walking Robots

Content Provider	IEEE Xplore Digital Library
Author	Olensek, A. Matjacic, Z.
Copyright Year	2005
Description	Author affiliation: Institute for Rehabilitation, Republic of Slovenia Linhartova 51, 1000 Ljubljana, Slovenia (Olensek, A.)
Abstract	This paper describes two-legged mechanical structure with ankle, knee and hip joints that is capable of walking in naturally stable walking cycle on downhill slope without presence of energy source. Bipedal model has elastic strings attached to the designated places that imitate a part of human muscular-skeletal system. By combining spring-like properties with passive walking principles we accomplish energy exchanges between biped segments during stance and swing phases that also simultaneously facilitate solution to foot clearance problem during swing phase by enabling the biped to perform rocking movement in lateral plane. We designed and examined behavior of the biped when walking with extended and flexible knees. The observed joint trajectories in the configuration with flexed knees were very similar to those observed in normal human walking. The results show new perspectives on future bipedal robots development and for studying involvement of particular muscle in human gait.
Starting Page	7
Ending Page	11
File Size	281695
Page Count	5
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570088
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Humanoid robots Knee Leg Frequency Humans Foot Hip Stability Springs rocking frequency passive walking energy exchanges swinging frequency
Content Type	Text
Resource Type	Article

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