NDLI: Swing leg retraction helps biped walking stability

Content Provider	IEEE Xplore Digital Library
Author	Wisse, M. Atkeson, C.G. Kloimwieder, D.K.
Copyright Year	2005
Description	Author affiliation: Delft Univ. of Technol. (Wisse, M.)
Abstract	In human walking, the swing leg moves backward just prior to ground contact, i.e. the relative angle between the thighs is decreasing. We hypothesized that this swing leg retraction may have a positive effect on gait stability, because similar effects have been reported in passive dynamic walking models, in running models, and in robot juggling. For this study, we use a simple inverted pendulum model for the stance leg. The swing leg is assumed to accurately follow a time-based trajectory. The model walks down a shallow slope for energy input which is balanced by the impact losses at heel strike. With this model we show that a mild retraction speed indeed improves stability, while gaits without a retraction phase (the swing leg keeps moving forward) are consistently unstable. By walking with shorter steps or on a steeper slope, the range of stable retraction speeds increases, suggesting a better robustness. The conclusions of this paper are therefore two-fold; (1) use a mild swing leg retraction speed for better stability, and (2) walking faster is easier
Starting Page	295
Ending Page	300
File Size	315864
Page Count	6
File Format	PDF
ISBN	0780393201
DOI	10.1109/ICHR.2005.1573583
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-12-05
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Biomechanics Stability Humans Thigh Robustness Robotics and automation Robots Leg Foot
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

An orbit based control for biomimetic biped walking

Optimizing Leg Distribution Around the Body in Walking Robots

Poincaré-Map-Based Reinforcement Learning For Biped Walking

Realization by Biped Leg-wheeled Robot of Biped Walking and Wheel-driven Locomotion

Development of a biped walking robot

Simulation study on fast biped walking based on self-excitation

Section-Map Stability Criterion for Biped Robots Part II: Applications and Experiments

Impedance control and modulation for stable footing in locomotion of biped robots

A simple trajectory generation method for biped walking

Swing leg retraction helps biped walking stability

Similar Documents

An orbit based control for biomimetic biped walking

Optimizing Leg Distribution Around the Body in Walking Robots

Poincaré-Map-Based Reinforcement Learning For Biped Walking

Realization by Biped Leg-wheeled Robot of Biped Walking and Wheel-driven Locomotion

Development of a biped walking robot

Simulation study on fast biped walking based on self-excitation

Section-Map Stability Criterion for Biped Robots Part II: Applications and Experiments

Impedance control and modulation for stable footing in locomotion of biped robots

A simple trajectory generation method for biped walking

Swing leg retraction helps biped walking stability