Modelling the effect of `heel to toe' roll-over contact on the walking dynamics of passive biped robots

DOI10.1016/J.APM.2013.02.048MaRDI QIDQ1789036zbMATH OpenOpenAlexFDO

Authors P. Mahmoodi, R. S. Ransing, M. I. Friswell

Publication date 9 October 2018

Published in Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.apm.2013.02.048

zbMATH Keywords

bifurcation diagramsgait analysisnonlinear dynamicspassive walkingprosthetic footroll-over shape

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Bifurcations and instability for nonlinear problems in mechanics (70K50) Biomechanics (92C10)

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Cites work

• Optimal foot shape for a passive dynamic biped

Cited in

(7)

• Dynamic stability of bio-inspired biped robots for lateral jumping in rugged terrain
• A novel mathematical formulation for predicting symmetric passive bipedal walking motion with unbalanced masses
• Study on feet forces' distributions, energy consumption and dynamic stability measure of hexapod robot during crab walking
• Comparison of point foot, collisional and smooth rolling contact models on the bifurcations and stability of bipedal walking
• Dynamics of heel strike in bipedal systems with circular feet
• Analyzing bifurcation, stability and chaos for a passive walking biped model with a sole foot
• An analytical model of rolling contact and its application to the modeling of bipedal locomotion

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