Efficiency analysis of two-period asymmetric gaits

This paper investigates the properties and optimality of asymmetric passive-dynamic gaits of a rimless wheel and a compass-like biped. Two types of asymmetric gaits are discussed; one is based on two different restored mechanical energies and the other is based on two different strides. The relation...

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Bibliographic Details
Published in:	International journal of dynamics and control Vol. 2; no. 3; pp. 304 - 313
Main Authors:	Harata, Yuji, Iwano, Koji, Asano, Fumihiko, Ikeda, Takashi
Format:	Journal Article
Language:	English
Published:	Berlin/Heidelberg Springer Berlin Heidelberg 01-09-2014
Subjects:	Complexity Control Control and Systems Theory Dynamical Systems Engineering Vibration Asymmetric gait Limit cycle walk Rimless wheel Passive dynamic walk
Online Access:	Get full text
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Summary:	This paper investigates the properties and optimality of asymmetric passive-dynamic gaits of a rimless wheel and a compass-like biped. Two types of asymmetric gaits are discussed; one is based on two different restored mechanical energies and the other is based on two different strides. The relation between the gait asymmetry and the gait efficiency in terms of walking speed is analyzed through numerical simulations. It is shown that the constraint on the stride is effective for achieving high-speed passive-dynamic walking.
ISSN:	2195-268X 2195-2698
DOI:	10.1007/s40435-013-0048-3