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TECHNICAL PAPERS

Emulation of the Dynamic Effects of Human Torso During a Walking Gait

[+] Author and Article Information
B. Mohamed, F. Gravez, F. B. Ouezdou

Laboratoire d’Instrumentation et Relations Individu Système, U.V.S.Q., CNRS FRE 2508, 10–12 Avenue de l’Europe, 78140 Vélizy, France

J. Mech. Des 126(5), 830-841 (Oct 28, 2004) (12 pages) doi:10.1115/1.1778184 History: Received August 01, 2003; Revised January 01, 2004; Online October 28, 2004
Copyright © 2004 by ASME
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References

Figures

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Biped virtual mannequin and ROBIAN locomotion system prototype
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Virtual mannequin upper part
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Effort wrench components of virtual mannequin upper part
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Effort wrench components of mannequin 1 torso with period 0.8 sec
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Effort wrench components of mannequin 2 torso with period 1 sec
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Effort wrench components of mannequin 3 torso with period 1.2 sec
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Definition of the dynamic equivalence between two mechanism
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Dynamic equivalence approach
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A two-dof model and its parameters
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Two dofs model simulation results
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Inverted pendulum model and its parameters
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3D inverted pendulum simulation results
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RPP mechanism and its parameters
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RPP mechanism simulation results
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RPPP mechanism and its parameters
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RPPP Model for dynamic simulation
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RPPP mechanism simulation results
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RPPP mechanism joint motions

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