• Libraries
    • Log in to:
    View Item 
    •   MSpace Home
    • Faculty of Graduate Studies (Electronic Theses and Practica)
    • FGS - Electronic Theses and Practica
    • View Item
    •   MSpace Home
    • Faculty of Graduate Studies (Electronic Theses and Practica)
    • FGS - Electronic Theses and Practica
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Dynamics and stability of passive dynamic biped walking using an advanced mathematical model

    Thumbnail
    View/Open
    Koop_Derek.pdf (2.306Mb)
    Date
    2012-09-20
    Author
    Koop, Derek
    Metadata
    Show full item record
    Abstract
    Passive dynamic walking is a manner of walking developed, partially or in whole, by the energy provided by gravity. Studying passive dynamic walking provides insight into human walking and is an invaluable tool for designing energy efficient biped robots. The objective of this research was to develop a new mathematical model of passive dynamic walking that modeled the ground reaction forces. A physical passive walker was built to validate the proposed mathematical model. The stability of the gait was analyzed using the proposed model. A novel method was created to determine the stability region of the model. Using the insights gained from the stability analysis, the relation between the angular momentum and the stability of the gait was examined. The proposed model matched the gait of the physical passive walker exceptionally well, both in trend and magnitude. The angular momentum of the passive walker was not found to correlate to the stability of the gait.
    URI
    http://hdl.handle.net/1993/8897
    Collections
    • FGS - Electronic Theses and Practica [25494]

    DSpace software copyright © 2002-2016  DuraSpace
    Contact Us | Send Feedback
    Theme by 
    Atmire NV
     

     

    Browse

    All of MSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

    My Account

    Login

    Statistics

    View Usage Statistics

    DSpace software copyright © 2002-2016  DuraSpace
    Contact Us | Send Feedback
    Theme by 
    Atmire NV