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Please use this identifier to cite or link to this item: http://eprint.iitd.ac.in/handle/2074/1455

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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