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Comparison of point foot, collisional and smooth rolling contact models on the bifurcations and stability of bipedal walking / William Charles; Pooya Mahmoodi; Rajesh Ransing; Igor Sazonov; Michael Friswell

European Journal of Computational Mechanics, Volume: 25, Issue: 3, Pages: 273 - 293

Swansea University Author: Rajesh, Ransing

Abstract

Traditional biped walkers based on passive dynamic walking usually have flat or circular feet. Thisfoot contact may be modelled with an eective rocker - represented as a roll-over shape - to describethe function of the knee-ankle-foot complex in human ambulation. Mahmoodi et al. has representedthis...

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Published in: European Journal of Computational Mechanics
ISSN: 1779-7179
Published: 2016
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URI: https://cronfa.swan.ac.uk/Record/cronfa31527
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spelling 2017-01-05T11:45:16.6917692 v2 31527 2016-12-22 Comparison of point foot, collisional and smooth rolling contact models on the bifurcations and stability of bipedal walking 0136f9a20abec3819b54088d9647c39f 0000-0003-4848-4545 Rajesh Ransing Rajesh Ransing true false 2016-12-22 EEN Traditional biped walkers based on passive dynamic walking usually have flat or circular feet. Thisfoot contact may be modelled with an eective rocker - represented as a roll-over shape - to describethe function of the knee-ankle-foot complex in human ambulation. Mahmoodi et al. has representedthis roll-over shape as a polygon with a discretized set of collisions. In this paper point foot, collisionaland smooth rolling contact models are compared. An approach based on the Lagrangian mechanicsare used to formulate the equations for the swing phase that conserves mechanical energy. Qualitativeinsight can be gained by studying the bifurcation diagrams of gait descriptors such as average velocity,step period, mechanical energy and inter-leg angle for dierent gain and length values for the feet,as well as dierent mass and length ratios. The results from the three approaches are compared anddiscussed. In the case of a rolling disk, the collisional contact model gives a negligible energy loss;incorporated into the double inverted pendulum system, however, reveals much greater errors. Thisresearch is not only useful for understanding the stability of bipedal walking, but also for the designof rehabilitative devices such as prosthetic feet and orthoses. Journal Article European Journal of Computational Mechanics 25 3 273 293 1779-7179 Passive walking; Gait analysis; Roll-over shape; Prosthetic foot; Foot contact; Bifurcation diagrams; Basin of attraction 31 12 2016 2016-12-31 10.1080/17797179.2016.1191122 http://www.tandfonline.com/doi/full/10.1080/17797179.2016.1191122 COLLEGE NANME Engineering COLLEGE CODE EEN Swansea University 2017-01-05T11:45:16.6917692 2016-12-22T17:25:29.8511621 College of Engineering Engineering William Charles 1 Pooya Mahmoodi 2 Rajesh Ransing 0000-0003-4848-4545 3 Igor Sazonov 4 Michael Friswell 5 0031527-22122016173157.pdf Comparison_of_point_foot_collisional_and_smooth_rolling_models.pdf 2016-12-22T17:31:57.1430000 Output 820323 application/pdf Accepted Manuscript true 2017-06-20T00:00:00.0000000 false
title Comparison of point foot, collisional and smooth rolling contact models on the bifurcations and stability of bipedal walking
spellingShingle Comparison of point foot, collisional and smooth rolling contact models on the bifurcations and stability of bipedal walking
Rajesh, Ransing
title_short Comparison of point foot, collisional and smooth rolling contact models on the bifurcations and stability of bipedal walking
title_full Comparison of point foot, collisional and smooth rolling contact models on the bifurcations and stability of bipedal walking
title_fullStr Comparison of point foot, collisional and smooth rolling contact models on the bifurcations and stability of bipedal walking
title_full_unstemmed Comparison of point foot, collisional and smooth rolling contact models on the bifurcations and stability of bipedal walking
title_sort Comparison of point foot, collisional and smooth rolling contact models on the bifurcations and stability of bipedal walking
author_id_str_mv 0136f9a20abec3819b54088d9647c39f
author_id_fullname_str_mv 0136f9a20abec3819b54088d9647c39f_***_Rajesh, Ransing
author Rajesh, Ransing
author2 William Charles
Pooya Mahmoodi
Rajesh Ransing
Igor Sazonov
Michael Friswell
format Journal article
container_title European Journal of Computational Mechanics
container_volume 25
container_issue 3
container_start_page 273
publishDate 2016
institution Swansea University
issn 1779-7179
doi_str_mv 10.1080/17797179.2016.1191122
college_str College of Engineering
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hierarchy_top_id collegeofengineering
hierarchy_top_title College of Engineering
hierarchy_parent_id collegeofengineering
hierarchy_parent_title College of Engineering
department_str Engineering{{{_:::_}}}College of Engineering{{{_:::_}}}Engineering
url http://www.tandfonline.com/doi/full/10.1080/17797179.2016.1191122
document_store_str 1
active_str 0
description Traditional biped walkers based on passive dynamic walking usually have flat or circular feet. Thisfoot contact may be modelled with an eective rocker - represented as a roll-over shape - to describethe function of the knee-ankle-foot complex in human ambulation. Mahmoodi et al. has representedthis roll-over shape as a polygon with a discretized set of collisions. In this paper point foot, collisionaland smooth rolling contact models are compared. An approach based on the Lagrangian mechanicsare used to formulate the equations for the swing phase that conserves mechanical energy. Qualitativeinsight can be gained by studying the bifurcation diagrams of gait descriptors such as average velocity,step period, mechanical energy and inter-leg angle for dierent gain and length values for the feet,as well as dierent mass and length ratios. The results from the three approaches are compared anddiscussed. In the case of a rolling disk, the collisional contact model gives a negligible energy loss;incorporated into the double inverted pendulum system, however, reveals much greater errors. Thisresearch is not only useful for understanding the stability of bipedal walking, but also for the designof rehabilitative devices such as prosthetic feet and orthoses.
published_date 2016-12-31T03:49:14Z
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