The Analysis of Biped Locomotion by the Extended Ballistic Model : Construction of Model and Simulation

The Analysis of Biped Locomotion by the Extended Ballistic Model : Construction of Model and Simulation

In this paper a new model is developed to explain complex biped locomotion. This model is based on a ballistic walking model which assumes no torque on any joints in the swing phase, and uses the penalty function to solve the constrained dynamics of the stance phase and the swing phase. The computer...

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Veröffentlicht in:TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 1990/12/25, Vol.56(532), pp.3306-3310
Hauptverfasser: SHIBATA, Kenje, SHIGEMATU, Youichi, KAKAZU, Yukinori
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Sprache:eng ; jpn
Schlagworte:
Ballistic Walking Model
Biped Locomotion
Mechanics
Robotics
Simulation
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container_end_page 3310
container_issue 532
container_start_page 3306
container_title TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
container_volume 56
creator SHIBATA, Kenje
SHIGEMATU, Youichi
KAKAZU, Yukinori
description In this paper a new model is developed to explain complex biped locomotion. This model is based on a ballistic walking model which assumes no torque on any joints in the swing phase, and uses the penalty function to solve the constrained dynamics of the stance phase and the swing phase. The computer simulation using the model showed that successful walking requires; (1) equality and inequality constraints such as to lock the knee of the stance leg extended, (2) the turning point of the joint torque in order to move the center of gravity of the body then the swing leg forward, (3) the ankle torque of the swing leg in order to avoid stumbling.
doi_str_mv 10.1299/kikaic.56.3306
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language eng ; jpn
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source J-STAGE Free; Elektronische Zeitschriftenbibliothek - Frei zugängliche E-Journals
subjects Ballistic Walking Model
Biped Locomotion
Mechanics
Robotics
Simulation
title The Analysis of Biped Locomotion by the Extended Ballistic Model : Construction of Model and Simulation
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