@inproceedings{8b180e97f0124b839bb0a5ff2db6e891,
title = "Dynamic modeling and numerical simulations of a passive robotic walker using Euler-Lagrange method",
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.",
keywords = "Biped Robots, Dynamics, Passive dynamic walking, Passive walkers",
author = "Irfan Hussain and Awad, {Mohammad I.} and Junaid, {Ali Bin} and Federico Renda and Lakmal Seneviratne and Dongming Gan",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 11th International Symposium on Mechatronics and its Applications, ISMA 2018 ; Conference date: 04-03-2018 Through 06-03-2018",
year = "2018",
month = apr,
day = "2",
doi = "10.1109/ISMA.2018.8330124",
language = "British English",
series = "11th International Symposium on Mechatronics and its Applications, ISMA 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1--6",
booktitle = "11th International Symposium on Mechatronics and its Applications, ISMA 2018",
address = "United States",
}