SLIDE 1
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Passive Dynamic Bipedal Walking with Knees The Effect of Parameter - - PowerPoint PPT Presentation
Passive Dynamic Bipedal Walking with Knees The Effect of Parameter - - PowerPoint PPT Presentation
Passive Dynamic Bipedal Walking with Knees The Effect of Parameter Variation Derek Koop, Dean Ferley and Christine Qiong Wu Department of Mechanical and Manufacturing Engineering University of Manitoba 2008 North Central ASABE/CSBE Conference
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SLIDE 3
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SLIDE 4
SLIDE 5
Thigh
- Leg Angle
- Step Angle
- Step Length
Shank
- Step Length
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SLIDE 7
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24 28 32 36
Step Length (cm)
20 3.75 4.25 4.75 5.25 5.75 6.25
Ramp Angle (degrees)
F1 F2 F3
SLIDE 8
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- A. Greaves and I. Lohrenz, A Study in Passive
Dynamic Walking, B. Sc. thesis, Department of Mechanical Engineering, University of Manitoba, Winnipeg, Manitoba, 2008.
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25 26 27 28 29
Step Angle (degrees)
Thigh-Shank Mismatch Mass Distribution Proportional Thigh-Shank
27 28 29
(degrees) Thigh-Shank Mismatch Mass Distribution Proportional Thigh-Shank
25 26 27 28 29
Step Angle (degrees)
Thigh-Shank Mismatch Mass Distribution Proportional Thigh-Shank
#
24 32 34 36 38 40 42 3.3 3.4 3.5 3.6 46 48 50 52
Dimensionless Step Period Radius of Gyration / Leg Length (%)
3.3 3.4 3.5 3.6 32 34 36 38 40 42
Dimensionless Step Period Center of Mass / Leg Length (%)
24 25 26 46 47 48 49 50 51 52
Step Angle (d Radius of Gyration / Leg Length (%)
24 46 48 50 52
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55 60
n (%)
50
(%)
40 45 50 55 1 2 3 4 5 6
Radius of Gyration Trial
2.3 3.1 3.2 3.3 3.4 3.5 20 30 40 1 2 3 4 5 6
Center of Mass (% Trial
2.3 3.1 3.2 3.3 3.4 3.5
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