A modified passive walking biped model with two feasible switching patterns of motion to resemble multi-pattern human walking

Maysam Fathizadeh, Hossein Mohammadi and Sajjad Taghvaei

Chaos, Solitons & Fractals, 2019, vol. 127, issue C, 83-95

Abstract: In this paper, a modified passive walking biped with two distinct feasible patterns of motion is presented. The biped has sole foot, and flexible elements are considered to model the muscles. The hip joint and the ankles are considered with flexible elements, springs and dampers, to model passive joint moments. The governing equations of motion are derived and transition rules are obtained by geometric constraints at impacts. The nonlinear coupled equations are investigated to detect stable periodic motions. The stability of motion patterns is verified by studying the eigenvalues of Jacobian matrix of Poincare’ map. Switching conditions between these stable patterns are determined to complete the governing equations of motion. One of the motion patterns have four phases and the other has three phases in each gait. Bifurcation diagrams are plotted to investigate the effect of various model parameters on dynamic behavior of the system. It is shown that the model is chaotic for a certain range of parameters. Because of systems switching, jumping in bifurcation diagrams is reported. Emergence of two feasible patterns of motion would enhance the resemblance of passive biped to multi-pattern human walking.

Keywords: Passive walking biped; Sole of the foot; Bifurcation (search for similar items in EconPapers)
Date: 2019
References: View complete reference list from CitEc
Citations: View citations in EconPapers (2)

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Persistent link: https://EconPapers.repec.org/RePEc:eee:chsofr:v:127:y:2019:i:c:p:83-95

DOI: 10.1016/j.chaos.2019.06.018

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