TY - GEN
T1 - Numerical simulations of a simple planar passive walker with ankle springs
AU - Narukawa, Terumasa
AU - Nishimura, Hidekazu
PY - 2014/1/1
Y1 - 2014/1/1
N2 - This paper presents modeling and simulation study of a simple planar passive walker with ankle springs, which exhibits double support phase. Contact model of the passive walking is constructed in order to deal with various conditions of contact with the ground and the presence of impact due to foot touchdown, liftoff and possibly foot rotation over the heel or toe during walking. A foot-ground contact is simulated as a compression normal force with Coulomb friction. Numerical simulations indicated that the passive walker with flat feet and ankle springs walks down stably on a shallow slope. copyright (c) 2010 by JSME.
AB - This paper presents modeling and simulation study of a simple planar passive walker with ankle springs, which exhibits double support phase. Contact model of the passive walking is constructed in order to deal with various conditions of contact with the ground and the presence of impact due to foot touchdown, liftoff and possibly foot rotation over the heel or toe during walking. A foot-ground contact is simulated as a compression normal force with Coulomb friction. Numerical simulations indicated that the passive walker with flat feet and ankle springs walks down stably on a shallow slope. copyright (c) 2010 by JSME.
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M3 - Conference contribution
AN - SCOPUS:84912038087
T3 - 5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
SP - 644
EP - 649
BT - 5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
PB - International Federation for the Promotion of Mechanism and Machine Science (IFToMM)
T2 - 5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
Y2 - 23 August 2010 through 27 August 2010
ER -