1
Mechanical Eng. Dpt., Shahid Chamran University Ahvaz, Iran
2
Department of Mechanical Engineering, National University of Skills(NUS), Tehran, Iran
Abstract
This paper is a study on dynamics of a two-link biped in level walking, focusing on the double support phase . For a mechanical model with generality in leg mechanism dynamics is undetermined including one degree of redundancy for planar bipeds, two for spatial ones. Unlike the common optimization-based approaches for solving such distribution problem, we consider a more simple assumption that is computationally light. Dynamics and state behavior of the resultant solution is studied on the phase plane as well as in terms of actuation and energy consumption. The effect of variations in the model and motion parameters as well as initial conditions is investigated on determinant features of gait such as the rear leg force, period of DSP, energy consumption, and step length.
Termeh,M. and Zare-Shahabadi,A. (2024). Dynamics, Energetics, and Parameter Study of Double Support Phase in Biped Gait with a Linear Force Increment. International Journal of Robotics, Theory and Applications, 10(1), 43-50.
MLA
Termeh,M. , and Zare-Shahabadi,A. . "Dynamics, Energetics, and Parameter Study of Double Support Phase in Biped Gait with a Linear Force Increment", International Journal of Robotics, Theory and Applications, 10, 1, 2024, 43-50.
HARVARD
Termeh M., Zare-Shahabadi A. (2024). 'Dynamics, Energetics, and Parameter Study of Double Support Phase in Biped Gait with a Linear Force Increment', International Journal of Robotics, Theory and Applications, 10(1), pp. 43-50.
CHICAGO
M. Termeh and A. Zare-Shahabadi, "Dynamics, Energetics, and Parameter Study of Double Support Phase in Biped Gait with a Linear Force Increment," International Journal of Robotics, Theory and Applications, 10 1 (2024): 43-50,
VANCOUVER
Termeh M., Zare-Shahabadi A. Dynamics, Energetics, and Parameter Study of Double Support Phase in Biped Gait with a Linear Force Increment. IJR, 2024; 10(1): 43-50.
