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Semi-passive kneed walker: Analysis of foot parameters for an effective gait balance
Conference proceeding

Semi-passive kneed walker: Analysis of foot parameters for an effective gait balance

Hosein Izi, Mahyar Naraghi, Ali Tehrani Safa and IEEE
2019 7TH INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM 2019), pp 368-372
01 Jan 2019
DOI: https://doi.org/10.1109/ICRoM48714.2019.9071882
Featured in Collection :   UN Sustainable Development Goals @ Drexel

Abstract

Engineering Engineering, Electrical & Electronic Engineering, Mechanical Robotics Science & Technology Technology
Bipedal walking robots have been the focus of research literature in recent years. The main objective of these studies is to improve stability and optimize walking behavior of human-like robots. The passive kneed bipedal are capable of generating stable human-like walking without any actuation on inclined surfaces. Circular arc foot has significant effect on the leg motion. In this paper, some issues of circular arc foot design to improve walking behavior are studied. Physical parameters of our robot such as mass distribution have been chosen close to human body parameters. The robot walks on a level ground by an energy injection through the push-off. Results of this study show that by choosing the appropriate location of the circular arc foot center, for constant input energy, a significant range of stable velocities can be achieved. The effect of arc foot center position on step length, step velocity, foot clearance and stability of the robot is presented.

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Web of Science research areas
Engineering, Electrical & Electronic
Engineering, Mechanical
Robotics
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