Passive dynamic walking is a gait developed, partially or in whole, by the energy provided by gravity. Research on passive dynamic bipedal walking helps develop an understanding of bipedal walking mechanics. Moreover, experimental passive dynamic research provides a base to compare and validate simulation results. An improved kneed bipedal walking mechanism and an improved measurement system are used to study the passive gait patterns. Gait measurements are conducted on the treadmill to evaluate the effects of the treadmill angle of inclination, mass distribution of the biped, treadmill belt speed, length of flat feet and thigh-shank length on the gait patterns. Most of these dynamic and geometric parameters have significant effects on step length, step period and robustness of the passive gait. Difficulties have been faced with the study of the flat feet and the leg length variation. Suggestions have been provided for future work. Experimental results are compared with previous work based on both the experimental and the computer simulation.
| Identifer | oai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:MWU.1993/4902 |
| Date | 13 September 2011 |
| Creators | Rushdi, Kazi |
| Contributors | Wu, Christine Qiong (Mechanical and Manufacturing Engineering), Luo, Yunhua (Mechanical and Manufacturing Engineering) Filizadeh, Shaahin (Electrical and Computer Engineering) |
| Source Sets | Library and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada |
| Detected Language | English |
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