On the effect of semielliptical foot shape on the energetic efficiency of passive bipedal gait*

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI:10.1109/IROS40897.2019.8967565

Aikaterini Smyrli, Mehdi Ghiassi, A. Kecskeméthy, E. Papadopoulos

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引用次数: 5

Abstract

This paper studies the effects of varying rollover curvature on the passive dynamic gait of a biped walker. The dynamic model of a compliant biped robot is extended with the implementation of semielliptical feet, to mimic human rollingradius progression during a step. The process of modeling the semielliptical foot shape and integrating its kinematics to the biped’s dynamics is presented in detail. The passive dynamic behavior of the biped for elliptic feet of various dimensions is investigated through numerical simulations to provide results about gait stability, walking speed, energetic efficiency, and impact force levels. The concept of energetic efficiency in passive walking is discussed thoroughly, and an efficiency comparison methodology is proposed. Finally, it is shown that the biomimetically-inspired semielliptical foot profile can lead to higher gait efficiency. The results of this study can be used to optimize energetic efficiency in biped walking machines and/or gait assisting prosthetic equipment by means of foot shape optimization.

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半椭圆足形对被动双足步态能量效率的影响*

研究了不同侧翻曲率对两足步行机器人被动动态步态的影响。对柔性双足机器人的动力学模型进行了扩展，实现了半椭圆足，模拟了人在行走过程中的滚动梯度过程。详细介绍了半椭圆足形的建模过程，并将其运动学与两足动物动力学相结合。通过数值模拟研究了不同尺寸椭圆足的双足被动动力学行为，提供了步态稳定性、行走速度、能量效率和冲击力水平的结果。深入讨论了被动行走能量效率的概念，提出了一种能量效率比较方法。最后，研究表明仿生半椭圆足廓可以提高步态效率。本研究结果可用于通过足形优化优化两足步行机和/或步态辅助假肢设备的能量效率。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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