10 research outputs found
Prototyping a thermal walker that can walk on a hot horizontal surface with a simple gait
Based on fuzzy-approximation adaptive backstepping control method for dual-arm of humanoid robot with trajectory tracking
Design of vertebrae-inspired trunk mechanism for controlling walking behavior of semi-passive walker
Efficacy and Safety of Ibuprofen and Acetaminophen in Children and Adults: A Meta-Analysis and Qualitative Review
Stability and control of planar compass gait walking with series-elastic ankle actuation
Robotic lower limb prosthesis design through simultaneous computer optimizations of human and prosthesis costs
Gait optimization and energetics of ballistic walking for an underactuated biped with knees
In this paper, we study gait optimization of ballistic walking in order to understand the natural dynamics of an underactuated biped with knees. We also propose applications for our understandings. Our optimization problem is solved by fixing energy levels, and then, we attempt to explain how optimal gaits are formed by examining the role of each joint in speeding up. In addition, we explain some natural characteristics of walking. Based on the results, we propose a new cost function to generate various walking gaits, including the optimum. Finally, we evaluate and discuss the energy efficiency of our ballistic walker and other bipedal walkers including humans.clos