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http://hdl.handle.net/2074/1455
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| Title: | Design of a robust self-excited biped walking mechanism |
| Authors: | Sangwan, V
Taneja, A
Mukherjee, S |
| Keywords: | Biped mechanism
Self-excited walking
Feedback
Stability |
| Issue Date: | 2004 |
| Citation: | Mechanism and Machine Theory, 39(12), 1385-1397 |
| Abstract: | A self-excited biped walking mechanism consisting of two legs that are connected in a series at the hip joint through a servomotor is studied to determine range of stability. A torque proportional to angle between the shank and the vertical is seen to sustain a gait. Each leg has a thigh and a shank connected at a passive knee joint that has a knee stopper restricting the forward motion like the human knee. While a torque proportional to the angle between the shank and the vertical stabilises, the optimum proportionality constant is to be determined. A mathematical model for the dynamics of the system including the impact equations is used to analyze the stability of the system through examination of phase plane plots. For a specified proportionality constant, the range of physical parameters like leg-length and mass of leg for which the system is stable is determined. Using the stability data, a robust design has been made. |
| URI: | http://eprint.iitd.ac.in/dspace/handle/2074/1455 |
| Appears in Collections: | Mechanical Engineering
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| sangwandes2004.pdf | | 635Kb | Adobe PDF | View/Open |
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