Passive dynamic walking is a gait developed, partially or in whole, by the energy provided by gravity. An improved kneed bipedal walking mechanism was designed and built to study passive gait patterns. The first aim of this study is to determine if testing a passive dynamic biped walker on a ramp is equivalent to testing on a treadmill. Based on the small difference between the gait patterns measured on the two test platforms, testing on a treadmill is equivalent to testing on a ramp. Measurement of the gait parameters were then conducted on the treadmill to evaluate the effects of the treadmill angle of inclination, mass distribution of the biped, treadmill belt speed and length of flat feet. Our experimental results are presented and compared with previous experimental and simulation results. Research on passive dynamic bipedal walking helps to develop an understanding of walking mechanics. Moreover, experimental passive dynamic walking results provide information to validate mathematical models of passive dynamic walking.
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ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
October 31–November 2, 2011
Arlington, Virginia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5476-1
PROCEEDINGS PAPER
Experimental Study on Passive Dynamic Bipedal Walking: Comparing Test Platforms and Effects of Parameter Changes on Gait Patterns
Kazi Rushdi,
Kazi Rushdi
University of Manitoba, Winnipeg, MB, Canada
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Derek Koop,
Derek Koop
University of Manitoba, Winnipeg, MB, Canada
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Christine Q. Wu
Christine Q. Wu
University of Manitoba, Winnipeg, MB, Canada
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Kazi Rushdi
University of Manitoba, Winnipeg, MB, Canada
Derek Koop
University of Manitoba, Winnipeg, MB, Canada
Christine Q. Wu
University of Manitoba, Winnipeg, MB, Canada
Paper No:
DSCC2011-6147, pp. 87-94; 8 pages
Published Online:
May 5, 2012
Citation
Rushdi, K, Koop, D, & Wu, CQ. "Experimental Study on Passive Dynamic Bipedal Walking: Comparing Test Platforms and Effects of Parameter Changes on Gait Patterns." Proceedings of the ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2. Arlington, Virginia, USA. October 31–November 2, 2011. pp. 87-94. ASME. https://doi.org/10.1115/DSCC2011-6147
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