0
TECHNICAL BRIEFS

An Approach to Identify Joint Motions for Dynamically Stable Walking

[+] Author and Article Information
Abhishek Agrawal

Mechanical Systems Laboratory, Department of Mechanical Engineering, University of Delaware, Newark, DE 19716agrawala@me.udel.edu

Sunil K. Agrawal

Mechanical Systems Laboratory, Department of Mechanical Engineering, University of Delaware, Newark, DE 19716agrawal@me.udel.edu

J. Mech. Des 128(3), 649-653 (Jul 21, 2005) (5 pages) doi:10.1115/1.2181996 History: Received May 28, 2004; Revised July 21, 2005

Biped robots are more versatile than conventional wheeled robots, but they tend to tip over easily. The dynamic stability of a biped robot needs to be maintained during walking. In this paper, a novel approach to compute dynamically stable walking motions of a planar six degree-of-freedom biped is presented. This approach is analytical and is based on the need for periodicity of the motion. The resulting gait satisfies the dynamic stability criteria. Sets of joint motions for different step sizes and speed of walking, i.e., quasi-statically and dynamically stable walking patterns, can be obtained.

FIGURES IN THIS ARTICLE
<>
Copyright © 2006 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Biped kinematic model

Grahic Jump Location
Figure 2

Free body diagram of ankle

Grahic Jump Location
Figure 3

(a) Hip and knee joint angle trajectory over a walking cycle. (b) ZMP and COM trajectory in x direction showing that ZMP is well within the motion of COM and jumps from one foot to another during stride change. (c) Horizontal and vertical ground reaction forces show that the friction conditions are satisfied all the time.

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In