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Case Study of Energy Flow in Cyclic Systems: Walking Machine

[+] Author Affiliations
S. Mukherjee, V. Sangwan, A. Taneja

Indian Institute of Technology, New Delhi, India

Paper No. DETC2004-57601, pp. 1561-1567; 7 pages
doi:10.1115/DETC2004-57601
From:
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME

abstract

A self-excited biped walking mechanism consisting of two legs that are connected in a series at the hip joint through a servomotor is studied as a cyclic system with collisions. A torque proportional to angle between the shank and the vertical is seen to sustain a gait. Each leg has a thigh and a shank connected at a passive knee joint that has a knee stopper restricting the forward motion like the human knee. A mathematical model for the dynamics of the system including the impact equations is used to analyse the stability of the system through examination of phase plane plots. Phase plane plots along with energy flow during the cycle show the nature of the system.

Copyright © 2004 by ASME

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