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A Parameter Study on Effect of Pattern of Motion on Walking Speed of Biped

[+] Author Affiliations
Tara Farizeh, Saeed Mansouri, Mohammad Jafar Sadigh

Isfahan University of Technology, Isfahan, Iran

Paper No. IMECE2012-89816, pp. 381-388; 8 pages
  • ASME 2012 International Mechanical Engineering Congress and Exposition
  • Volume 4: Dynamics, Control and Uncertainty, Parts A and B
  • Houston, Texas, USA, November 9–15, 2012
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4520-2
  • Copyright © 2012 by ASME


Study of fast motion of bipeds is an interesting subject for researchers. It is well known that for a specified biped, with certain physical parameters and actuation capability, change of kinematic parameters of motion may change the speed of motion. Among such parameters are mean value of hip height, relative horizontal position of hip at the beginning and end of single support phase and top position of ankle and its relative horizontal position. This work presents a parameter study in which a phase-plane analysis for minimum time motion of a biped is used to find maximum speed of biped for different values of each parameter in one step. The frame work of minimum time solution is such that it fulfills zero moment point criterion for stability and friction condition for slippage prevention.

Copyright © 2012 by ASME



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