Simulation Analysis of Impulsive Ankle Push-Off on the Walking Speed of a Planar Biped Robot
Ankle push-off generates more than 80% positive power at the end of the stance phase during human walking. In this paper, the influence of impulsive ankle push-off on the walking speed of a biped robot is studied by simulation. When the push-off height of the ankle joint is 13 cm based on the ground...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
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Frontiers Media S.A.
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7835415/ https://www.ncbi.nlm.nih.gov/pubmed/33511106 http://dx.doi.org/10.3389/fbioe.2020.621560 |
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author | Ji, Qiaoli Qian, Zhihui Ren, Lei Ren, Luquan |
author_facet | Ji, Qiaoli Qian, Zhihui Ren, Lei Ren, Luquan |
author_sort | Ji, Qiaoli |
collection | PubMed |
description | Ankle push-off generates more than 80% positive power at the end of the stance phase during human walking. In this paper, the influence of impulsive ankle push-off on the walking speed of a biped robot is studied by simulation. When the push-off height of the ankle joint is 13 cm based on the ground (the height of the ankle joint of the swing leg) and the ankle push-off torque increases from 17 to 20.8 N·m, the duration of the swinging leg actually decreases from 50 to 30% of the gait cycle, the fluctuation amplitude of the COM (center of mass) instantaneous speed of the robot decreases from 95 to 35% of the maximum speed, and the walking speed increases from 0.51 to 1.14 m/s. The results demonstrate that impulsive ankle push-off can effectively increase the walking speed of the planar biped robot by accelerating the swing leg and reducing the fluctuation of the COM instantaneous speed. Finally, a comparison of the joint kinematics of the simulation robot and the human at a normal walking speed shows similar motion patterns. |
format | Online Article Text |
id | pubmed-7835415 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-78354152021-01-27 Simulation Analysis of Impulsive Ankle Push-Off on the Walking Speed of a Planar Biped Robot Ji, Qiaoli Qian, Zhihui Ren, Lei Ren, Luquan Front Bioeng Biotechnol Bioengineering and Biotechnology Ankle push-off generates more than 80% positive power at the end of the stance phase during human walking. In this paper, the influence of impulsive ankle push-off on the walking speed of a biped robot is studied by simulation. When the push-off height of the ankle joint is 13 cm based on the ground (the height of the ankle joint of the swing leg) and the ankle push-off torque increases from 17 to 20.8 N·m, the duration of the swinging leg actually decreases from 50 to 30% of the gait cycle, the fluctuation amplitude of the COM (center of mass) instantaneous speed of the robot decreases from 95 to 35% of the maximum speed, and the walking speed increases from 0.51 to 1.14 m/s. The results demonstrate that impulsive ankle push-off can effectively increase the walking speed of the planar biped robot by accelerating the swing leg and reducing the fluctuation of the COM instantaneous speed. Finally, a comparison of the joint kinematics of the simulation robot and the human at a normal walking speed shows similar motion patterns. Frontiers Media S.A. 2021-01-12 /pmc/articles/PMC7835415/ /pubmed/33511106 http://dx.doi.org/10.3389/fbioe.2020.621560 Text en Copyright © 2021 Ji, Qian, Ren and Ren. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Bioengineering and Biotechnology Ji, Qiaoli Qian, Zhihui Ren, Lei Ren, Luquan Simulation Analysis of Impulsive Ankle Push-Off on the Walking Speed of a Planar Biped Robot |
title | Simulation Analysis of Impulsive Ankle Push-Off on the Walking Speed of a Planar Biped Robot |
title_full | Simulation Analysis of Impulsive Ankle Push-Off on the Walking Speed of a Planar Biped Robot |
title_fullStr | Simulation Analysis of Impulsive Ankle Push-Off on the Walking Speed of a Planar Biped Robot |
title_full_unstemmed | Simulation Analysis of Impulsive Ankle Push-Off on the Walking Speed of a Planar Biped Robot |
title_short | Simulation Analysis of Impulsive Ankle Push-Off on the Walking Speed of a Planar Biped Robot |
title_sort | simulation analysis of impulsive ankle push-off on the walking speed of a planar biped robot |
topic | Bioengineering and Biotechnology |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7835415/ https://www.ncbi.nlm.nih.gov/pubmed/33511106 http://dx.doi.org/10.3389/fbioe.2020.621560 |
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