9 research outputs found
Once-per-step control of ankle-foot prosthesis push-off work reduces effort associated with balance during walking
Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models
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