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Dynamic Simulation of Passive Walker Based on Virtual Gravity Theory

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Intelligent Robotics and Applications (ICIRA 2009)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5928))

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Abstract

Passive dynamic walking is a high efficiency way for bipedal robots to reduce energy cost. To study the nature of passive dynamic walking, we propose a new dynamic simulation method and build a virtual passive walker prototype based on virtual gravity theory using ADAMS. The results of the simulation are believable by comparing with the former research results, and the influences on gait stability of three critical physical parameters are obtained by using the parameterization analysis tools. These simulation results show that the suitable initial parameter is a critical factor for a simplest passive walker’s stability on slope ground and the dynamic simulation is an available way to study the bipedal robot’s walking.

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Author information

Authors and Affiliations

  1. School of Mechanical and Power Engineering, East China University of Science and Technology, 200237, Shanghai, China

    Heng Cao, Yu Wang, Jun Zhu & Zhengyang Ling

Authors
  1. Heng Cao
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  2. Yu Wang
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  3. Jun Zhu
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  4. Zhengyang Ling
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Editor information

Editors and Affiliations

  1. School of Mechanical and Aerospace Engineering, Nanyang Technological University, 639798, Singapore

    Ming Xie

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P. R. China

    Youlun Xiong

  3. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P.R. China

    Caihua Xiong

  4. Institute of Industrial Research, University of Portsmouth, PO1 3QL, Portsmouth, UK

    Honghai Liu

  5. Department of Computer Science and Electrical Engineering, Kumamoto University, 860-8555, Kumamoto, Japan

    Zhencheng Hu

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© 2009 Springer-Verlag Berlin Heidelberg

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Cao, H., Wang, Y., Zhu, J., Ling, Z. (2009). Dynamic Simulation of Passive Walker Based on Virtual Gravity Theory. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_124

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  • DOI: https://doi.org/10.1007/978-3-642-10817-4_124

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-10816-7

  • Online ISBN: 978-3-642-10817-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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