Author:
Akimoto Toshinari, ,Terada Nobuyuki,Matsumoto Akihiro
Abstract
We designed and developed an ankle-driven quasi-passive dynamic walking machine and modeled it focusing on the double-stance phase for accurate analyzing realistic movement. We used a penalty function to formulate a motion equation and changed the walking speed of an ankle-driven walking machine by changing kick and brake torque. Computer simulation confirmed the feasibility of brake torque from the energy point of view and walking stability.
Publisher
Fuji Technology Press Ltd.
Subject
Electrical and Electronic Engineering,General Computer Science
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