Research Papers

Passive Dynamic Biped Walking—Part I: Development and Validation of an Advanced Model

[+] Author and Article Information
Christine Q. Wu

Department of Mechanical Engineering,
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada

Angle between the legs at the instance of heel strike.

Software developed by Quanser.

The sliding velocity is less than the Stribeck velocity.

Does not switch between impact and motion equations like the traditional impact-based passive walking model.

Contributed by the Design Engineering Division of ASME for publication in the Journal of Computational and Nonlinear Dynamics. Manuscript received December 11, 2012; final manuscript received February 28, 2013; published online April 19, 2013. Assoc. Editor: Parviz Nikravesh.

J. Comput. Nonlinear Dynam 8(4), 041007 (Apr 19, 2013) (10 pages) Paper No: CND-12-1219; doi: 10.1115/1.4023934 History: Received December 11, 2012; Revised February 28, 2013

Passive dynamic walking is a manner of walking developed, partially or in whole, by the energy provided by gravity. Studying passive dynamic walking provides insight into human walking and is an invaluable tool for designing energy-efficient biped robots. The objective of this research was to develop a continuous mathematical model of passive dynamic walking, in which the Hunt–Crossley contact model, and the LuGre friction model were used to represent the normal and tangential ground reactions continuously. A physical passive walker was built to validate the proposed mathematical model. A traditional impact-based passive walking model was also used as a reference to demonstrate the advancement of the proposed passive dynamic walking model. The simulated gait of the proposed model matched the gait of the physical passive walker exceptionally well, both in trend and magnitude.

Copyright © 2013 by ASME
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Fig. 2

Schematics of interpenetration of two bodies

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Fig. 3

Visualization of the LuGre model

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Fig. 4

Transition to double support phase when Leg 1 is the stance leg

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Fig. 5

Transition to single support phase to single support on Leg 2

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Fig. 6

Determining the interpenetration value for Leg i

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Fig. 7

Picture of HM2L with features labeled

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Fig. 8

Photos of HM2L on the ramp

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Fig. 9

Example of data from HM2L

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Fig. 10

Leg angle phase portrait. (a) Proposed model. (b) Impact-based model.

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Fig. 11

Normal and friction force versus time

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Fig. 12

Friction state observer

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Fig. 13

Comparison between experimental walker, proposed model, and impact-based model. (a) Step length. (b) Step period. (c) Average hip velocity.

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Fig. 14

Comparison of the inner leg angle (α) of the simulation and experimental gait




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