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

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dc.contributor.authorSangwan, V-
dc.contributor.authorTaneja, A-
dc.contributor.authorMukherjee, S-
dc.identifier.citationMechanism and Machine Theory, 39(12), 1385-1397en
dc.description.abstractA 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.en
dc.format.extent650299 bytes-
dc.subjectBiped mechanismen
dc.subjectSelf-excited walkingen
dc.titleDesign of a robust self-excited biped walking mechanismen
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