The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The passive walker with knees can naturally execute the leg motion by the dynamics of legs under the gravity only. Circular arc foot is very important for the leg motion. In this paper, the dynamical effects of the arc foot, which can keep the knee joint of stance leg straight only by the stopper and can enhance the flexion of knee joint of swing leg, are discussed. Also, its geometrical negative...
In our earlier work, we showed that high stability of passive walking can be achieved by the global stabilization principle of fixed point. The principle has been established, providing that the state just after heel-strike exists at the next step. However, this condition may not always hold. The passive walker with knees can execute the leg-swing motion with no control, only by gravity effect. Unfortunately,...
A passive walker with knees can walk down gentle slope in a natural gait and can exhibit a stable limit cycle. Though the passive walker is simple, it is a sort of hybrid system which combines the continuous dynamics of leg-swing motion and the discrete event of leg-exchange. We focus on the mechanisms of generation and stabilization of a fixed point of passive walking. We propose a generation method...
Passive walker with knees can walk down shallow slope in a natural gait and can exhibit a stable limit cycle. Though the passive walker is mechanically simple, it is a sort of hybrid system that combines the continuous dynamics of leg-swing motion and the discrete event of leg-exchange. In this paper, we focus on the mechanism of fixed point. We demonstrate a physical principle of gait generation...
Passive walking robot without actuator and control could dynamically walk down by the interaction between walker's dynamics and environment. Furthermore, this motion is attractive because its gait is natural. It has been suggested that the dynamics of passive walking inherently generates gait cycle. And, it is interesting to note that this robot exhibits a stable limit cycle and its gait bifurcates...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.