Abstract
This paper proposes an approach to analyse comprehend the effect of different uncertain ground impedance parameters on bipedal walking. A dynamic model of a rimless wheel in contact with an unpredictable visco-elastic terrain is presented. The mathematical model of the rimless wheel as it makes contact with an uneven ground has been developed based on Lagrangian dynamics. The uncertain ground impedance parameters induce structural visco-elasticity which is represented by a spring and damper pair in the horizontal direction and another in the vertical direction. A numerical simulation has been performed to investigate the behaviour of the proposed dynamic mathematical model. The results describe the effect of the interplay among the visco-elastic parameters at the ground-leg contact point of a legged walker and the emerging properties of interaction dynamics of walking on different impedance parameters. The results of simulation trials highlight the importance of the above interplay in the area of bipedal humanoid walking.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Paul M, Jamie M (2010) Optimal switching curve for a multiple link walking robot using nelder mead optimization, ndia ground vehicle systems. In: Engineering and Technology Symposium Robotic Systems Mini-Symposium, Dearborn
McGeer T (1990) Passive dynamic walking. Int J Robotics Res 9(2):61–82
Russell M (1983) Odex 1:the first functionoid Robot. Age 5:12–18
Waldron K (1986) Force and motion management in legged locomotion. IEEE J Robot Automat 2(4):214–220
Quin RD, Kingsley DA, Offi JT, Ritzmann, RE (2002) Improved mobility through abstracted biological principles. In: IEEE International Conference on Intelligent Robots and Systems (IROS), pp 2652–2657
Saranali U, Buehler M, Koditscek D (2001) Rhex a simple and highly mobile hexapod Robot. Int J Robotics Res, 20(7):616–631
Boggess MJ, Schroer RT, Quinn RD, Ritzmann RE (2004) Mechanized cockroach footpaths enable cockroach-like mobility. In: Proceedings of the International Conference on Information and Automation, vol. 3, pp 28712876
McGeer T, Palmer LH (1989) Wobbling, toppling, and forces of contact. Am J Phys, 57(12):1089–1097
Byl K, Tedrake R (2008) Metastable walking on stochastically rough terrain. In: Proceedings of Robotics: Science and Systems IV 6490–6495
Stephens B (2007) Integral control of humanoid balance. In: The Robotics Institute Carnegie Mellon University Pittsburgh, PA 15213, USA, bstephens@cmu.edu http://www.cs.cmu.edu/bstephe1
Jong Hyeon P (2001) Impedance control for biped robot locomotion. IEEE Trans Robotics Automat, 17(6):870–882
Wisse M (2004) Essentials of dynamic walking analysis and design of two-legged robots. In: PhD thesis, Universiteit Delft, 20 Sept 2004
Tedrake R, Zhang TW, Seung S (2001) Learning to walk in 20 minute. In: Brain and Cognitive Sciences Center for Bits and Atoms Massachusetts Inst. of Technology Cambridge
Narukawa T, Yokoyama K, Takahashi M, Yoshida K (2010) An experimental study of three-dimensional passive dynamic walking with flat feet and ankle springs.In: Cutting Edge Robotics, Keio University Japan
Lee S H. The reaction mass pendulum (RMP) model for humanoid robot gait and balance Control. In: Humanoid Robots, University of California, Los Angeles
Stephens B, Atkeson C () Modeling and control of periodic humanoid balance using the linear biped model. In: Carnegie Mellon University, Pittsburgh
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag London
About this paper
Cite this paper
Mohseni-Vahed, S., Qin, Y. (2012). Effect of Different Terrain Parameters on Walking. In: Dai, J., Zoppi, M., Kong, X. (eds) Advances in Reconfigurable Mechanisms and Robots I. Springer, London. https://doi.org/10.1007/978-1-4471-4141-9_35
Download citation
DOI: https://doi.org/10.1007/978-1-4471-4141-9_35
Published:
Publisher Name: Springer, London
Print ISBN: 978-1-4471-4140-2
Online ISBN: 978-1-4471-4141-9
eBook Packages: EngineeringEngineering (R0)