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A passive dynamic walking model with Coulomb friction at the hip joint

Published online by Cambridge University Press:  23 May 2013

Wenhao Guo,
Tianshu Wang and
Qi Wang
Wenhao Guo
Affiliation:
School of Aerospace, Tsinghua University, Beijing 100084, China
Tianshu Wang*
Affiliation:
School of Aerospace, Tsinghua University, Beijing 100084, China
Qi Wang
Affiliation:
Department of Dynamics and Control, Beihang University, Beijing 100191, China
*
*Corresponding author. E-mail: tswang@tsinghua.edu.cn
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Summary

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This paper presents a modified passive dynamic walking model with hip friction. We add Coulomb friction to the hip joint of a two-dimensional straight-legged passive dynamic walker. The walking map is divided into two parts – the swing phase and the impact phase. Coulomb friction and impact make the model's dynamic equations nonlinear and non-smooth, and a numerical algorithm is given to deal with this model. We study the effects of hip friction on gait and obtain basins of attraction of different coefficients of friction.

Keywords

Passive dynamic walkingCoulomb frictionBipedsHip frictionBasin of attraction

Information

Type
Articles
Information
Robotica , Volume 31 , Issue 8 , December 2013, pp. 1221 - 1227
Copyright
Copyright © Cambridge University Press 2013 

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