Hostname: page-component-cb9f654ff-9knnw Total loading time: 0 Render date: 2025-08-20T03:42:10.313Z Has data issue: false hasContentIssue false
  • English
  • Français

A passive dynamic walking model with Coulomb friction at the hip joint

Published online by Cambridge University Press:  23 May 2013

Wenhao Guo ,
Tianshu Wang  and
Qi Wang
Wenhao Guo
Affiliation:
School of Aerospace, Tsinghua University, Beijing 100084, China
Tianshu Wang*
Affiliation:
School of Aerospace, Tsinghua University, Beijing 100084, China
Qi Wang
Affiliation:
Department of Dynamics and Control, Beihang University, Beijing 100191, China
*
*Corresponding author. E-mail: tswang@tsinghua.edu.cn
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a modified passive dynamic walking model with hip friction. We add Coulomb friction to the hip joint of a two-dimensional straight-legged passive dynamic walker. The walking map is divided into two parts – the swing phase and the impact phase. Coulomb friction and impact make the model's dynamic equations nonlinear and non-smooth, and a numerical algorithm is given to deal with this model. We study the effects of hip friction on gait and obtain basins of attraction of different coefficients of friction.

Keywords

Passive dynamic walkingCoulomb frictionBipedsHip frictionBasin of attraction

Information

Type
Articles
Information
Robotica , Volume 31 , Issue 8 , December 2013 , pp. 1221 - 1227
Copyright
Copyright © Cambridge University Press 2013 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Ishida, T., “Development of a Small Biped Entertainment Robot QRIO,” In: Proceedings of the 2004 International Symposium on Micro-NanoMechatronics and Human Science, Nagoya, Japan (IEEE, New York, 2004) pp. 23–28.Google Scholar
2.Sakagami, Y., Watanabe, R. and Aoyama, C., “The Intelligent ASIMO: System Overview and Integration,” In: Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Piscataway, New Jersey (IEEE, New York, 2002) pp. 2478–2483.Google Scholar
3.Hirai, K., Hirose, M., Haikawa, Y., “Development of Honda Humanoid Robot,” In: Proceedings of the IEEE International Conference on Robotics and Automation, New Jersey (IEEE, New York, 1998) pp. 1321–1326.Google Scholar
4.Zajac, F. E., “Muscle and tendon: Properties, models, scaling, and application to biomechanics and motor control,” Crit. Rev. Biomed. Eng. 17 (4), 359–411 (1989).Google ScholarPubMed
5.McGeer, T., “Passive dynamic walking,” Int. J. Robot. Res. 9 (2), 62–82 (Apr. 1990).CrossRefGoogle Scholar
6.Collins, S., Wisse, M. and Ruina, A, “A three-dimensional passive-dynamic walking robot with two legs and knees,” Int. J. Robot. Res. 20 (7), 607–615 (2001).CrossRefGoogle Scholar
7.Garcia, M., “Passive Dynamic Models of Human Gait,” Poster Abstract from Engineering Foundation Conference on Biomechanics and Neural Control of Human Movement, Mt. Sterling, Ohio (1996).Google Scholar
8.Wisse, M., “Three Additions to Passive Dynamic Walking: Actuation, an Upper Body, and 3D Stability,” In: Proceedings of the IEEE International Conference on Humanoid Robots, New Jersey (IEEE, New York, 2004) pp. 113–132.Google Scholar
9.Liu, N., Simulation and Experimental Study on the Dynamics of Passive Bipedal Walker (Tsinghua University, Beijing, China, 2009).Google Scholar
10.Goswami, A., Thuilot, B. and Espiau, B., “A study of the passive gait of a compass-like biped robot: Symmetry and chaos,” Int. J. Robot. Res. 17 (12), 1282–1301 (1998).CrossRefGoogle Scholar
11.Liu, N., Li, J. and Wang, T., “Study of the basin of attraction of passive models by the aid of cell-to-cell mapping method,” Engeering Mech. 25 (10), 218–223 (2008).Google Scholar
12.Borzova, E. and Hurmuzlu, Y., “Passively walking five-link robot,” Automatica 40 (4), 621–629 (2004).CrossRefGoogle Scholar
13.Qi, F., Wang, T. and Li, J., “The elastic contact influences on passive walking gaits,” Robotica 29 (5), 787–796 (2011).CrossRefGoogle Scholar
14.Wang, Q., Huang, Y. and Wang, L., “Passive dynamic walking with flat feet and ankle compliance,” Robotica 28 (3), 413–425 (2010).CrossRefGoogle Scholar
15.Hsu, C. S., “A theory of cell-to-cell mapping dynamical systems,” J. Appl. Mech. 47, 913–939 (1980).Google Scholar
16.Wisse, M., Schwab, A. L., van der Helm, F. C. T., “Passive Dynamic Walking Model with Upper Body,” Robotica 22 (6), 681–688 (2004).CrossRefGoogle Scholar