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Modeling and analysis of passive dynamic bipedal walking with segmented feet and compliant joints

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An Erratum to this article was published on 12 January 2013

Abstract

Passive dynamic walking has been developed as a possible explanation for the efficiency of the human gait. This paper presents a passive dynamic walking model with segmented feet, which makes the bipedal walking gait more close to natural human-like gait. The proposed model extends the simplest walking model with the addition of flat feet and torsional spring based compliance on ankle joints and toe joints, to achieve stable walking on a slope driven by gravity. The push-off phase includes foot rotations around the toe joint and around the toe tip, which shows a great resemblance to human normal walking. This paper investigates the effects of the segmented foot structure on bipedal walking in simulations. The model achieves satisfactory walking results on even or uneven slopes.

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Authors and Affiliations

  1. Peking University, 100871, Beijing, China

    Yan Huang, Qi-Ning Wang, Yue Gao & Guang-Ming Xie

Authors
  1. Yan Huang
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  2. Qi-Ning Wang
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  3. Yue Gao
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  4. Guang-Ming Xie
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Corresponding author

Correspondence to Qi-Ning Wang.

Additional information

The project was supported by the National Natural Science Foundation of China (61005082, 61020106005), Doctoral Fund of Ministry of Education of China (20100001120005), PKU-Biomedical Engineering Join Seed Grant 2012 and the 985 Project of Peking University (3J0865600).

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Huang, Y., Wang, QN., Gao, Y. et al. Modeling and analysis of passive dynamic bipedal walking with segmented feet and compliant joints. Acta Mech Sin 28, 1457–1465 (2012). https://doi.org/10.1007/s10409-012-0079-6

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  • DOI: https://doi.org/10.1007/s10409-012-0079-6

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