Journal article
Passive dynamic of the simplest walking model: Replacing ramps with stairs
Mechanism and machine theory, v 42(10), pp 1314-1325
01 Oct 2007
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
Passive dynamic of the simplest walking model is considered for stepping motion. The only variable is the ratio of the stair height to the robot leg length. It exhibits period-one stable limit cycles and then period doubling route to chaos. Since the results are comparable with walking down a shallow incline, we show the similarities and differences between these two kinds of passive walking to specify the role of surface pro. le in walking stability. (c) 2006 Published by Elsevier Ltd.
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Details
- Title
- Passive dynamic of the simplest walking model: Replacing ramps with stairs
- Creators
- Ali Tehrani Safa - Amirkabir University of TechnologyMohammad Ghaffari Saadat - Amirkabir University of TechnologyMahyar Naraghi - Amirkabir University of Technology
- Publication Details
- Mechanism and machine theory, v 42(10), pp 1314-1325
- Publisher
- Elsevier
- Number of pages
- 12
- Resource Type
- Journal article
- Language
- English
- Academic Unit
- School of Biomedical Engineering, Science, and Health Systems; Drexel University
- Web of Science ID
- WOS:000253489400006
- Scopus ID
- 2-s2.0-34250884602
- Other Identifier
- 991019415772904721
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- Web of Science research areas
- Engineering, Mechanical