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tehrani-safa--a
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From passive dynamic walking to ankle push-off actuation: An MSC ADAMS approach to design
, Article 6th RSI International Conference on Robotics and Mechatronics, IcRoM 2018, 23 October 2018 through 25 October 2018 ; 2019 , Pages 400-405 ; 9781728101279 (ISBN) ; Ehteshami Bejnordi, V ; Tehrani Safa, A ; Naraghi, M ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2019
Abstract
The main focus of this paper is on how the biped robot has a stable passive gait cycle as well as going through a stable journey on a level ground merely with push-off actuation. During recent years humanoids have been in the center of attention due to several reasons some of which are: compactness of the structure, low energy consumption, humanoid behavior and last but not least being of great use in medical field. In this paper, equations of motion regarding the passive phase as well as push-off are simulated in MATLAB software. For the next step, a comparison between these two stable gait cycles is made so as to figure out the difference between energy injected to the system by push-off...