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Title: Experimental study on passive dynamic bipedal walking: effects of parameter changes on gait patterns
Authors: Rushdi, Kazi
Supervisor: Wu, Christine Qiong (Mechanical and Manufacturing Engineering)
Examining Committee: Luo, Yunhua (Mechanical and Manufacturing Engineering) Filizadeh, Shaahin (Electrical and Computer Engineering)
Graduation Date: October 2011
Keywords: passive
Issue Date: 13-Sep-2011
Abstract: Passive dynamic walking is a gait developed, partially or in whole, by the energy provided by gravity. Research on passive dynamic bipedal walking helps develop an understanding of bipedal walking mechanics. Moreover, experimental passive dynamic research provides a base to compare and validate simulation results. An improved kneed bipedal walking mechanism and an improved measurement system are used to study the passive gait patterns. Gait measurements are conducted on the treadmill to evaluate the effects of the treadmill angle of inclination, mass distribution of the biped, treadmill belt speed, length of flat feet and thigh-shank length on the gait patterns. Most of these dynamic and geometric parameters have significant effects on step length, step period and robustness of the passive gait. Difficulties have been faced with the study of the flat feet and the leg length variation. Suggestions have been provided for future work. Experimental results are compared with previous work based on both the experimental and the computer simulation.
Appears in Collection(s):FGS - Electronic Theses & Dissertations (Public)

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