Dynamic modeling and numerical simulations of a passive robotic walker using Euler-Lagrange method

Irfan Hussain, Mohammad I. Awad, Ali Bin Junaid, Federico Renda, Lakmal Seneviratne, Dongming Gan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

The two main important factors to be considered while designing an efficient biped robot are human like gait cycle and energy efficiency. The researchers have sought the solution through passive dynamic walking which can provide highly energy efficient model for biped locomotion exhibiting human like gait under gravity. By adding actuation at some joints, the passive dynamic walking robot can walk stably on level ground. In this paper, we present numerical simulation of a simple robotic dynamic walker using Matlab. We derived the equation of motion using Euler-Lagrange method. We first demonstrate that a simple passive biped walker, vaguely resembling human legs, can walk down a shallow slope without any actuation and control. Later, we extended the passivity property to active dynamic walkers on level ground. Our model is the simplest special case of the passive-dynamic models pioneered by McGeer (1990a). It has two rigid massless legs hinged at the hip, a pointmass at the hip, and point-masses at the feet. After nondimensionalizing the governing equations, the model has only one free design parameter, the ramp slope γ. This model shows stable walking modes similar to more elaborate models, but allows some use of analytic methods to study its dynamics.

Original languageBritish English
Title of host publication11th International Symposium on Mechatronics and its Applications, ISMA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-6
Number of pages6
ISBN (Electronic)9781538610787
DOIs
StatePublished - 2 Apr 2018
Event11th International Symposium on Mechatronics and its Applications, ISMA 2018 - Sharjah, United Arab Emirates
Duration: 4 Mar 20186 Mar 2018

Publication series

Name11th International Symposium on Mechatronics and its Applications, ISMA 2018
Volume2018-January

Conference

Conference11th International Symposium on Mechatronics and its Applications, ISMA 2018
Country/TerritoryUnited Arab Emirates
CitySharjah
Period4/03/186/03/18

Keywords

  • Biped Robots
  • Dynamics
  • Passive dynamic walking
  • Passive walkers

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