Active knee-lock release for passive-dynamic walking machines

Kalin Trifonov, Shuji Hashimoto

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    6 Citations (Scopus)

    Abstract

    Passive - dynamic walkers are mechanical devices that can walk down a slope without motors or controllers. Here we present a design improvement to the construction of these machines. We have built a classical passive - dynamic walking machine, but we have replaced the original suction cups knee-locking mechanism with two new designs: one with passive magnetic lock, and another that features an active release. We are doing experiments with both designs and with each design we do a set of a hundred trials and we try to setup the walker in such a way so it is able to achieve maximum number of steps. At the end of this paper we compare the experimental results and we try to show that the new knee-lock mechanism with active release is not only simpler, but also more effective than the magnetic one, which we eventually dismiss as an unsuccessful, and also the original suction cup one. We also describe in detail the design of the walker, including both knee designs, the feet and a new external bearing holder for the hip, which allows easy-replacement and use of upper legs with different length and shape.

    Original languageEnglish
    Title of host publication2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
    Pages958-963
    Number of pages6
    DOIs
    Publication statusPublished - 2008
    Event2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya
    Duration: 2007 Dec 152007 Dec 18

    Other

    Other2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
    CityYalong Bay, Sanya
    Period07/12/1507/12/18

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    Bearings (structural)
    Controllers
    Experiments

    Keywords

    • Biped
    • Passive - dynamic walking

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Control and Systems Engineering
    • Biomaterials

    Cite this

    Trifonov, K., & Hashimoto, S. (2008). Active knee-lock release for passive-dynamic walking machines. In 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO (pp. 958-963). [4522293] https://doi.org/10.1109/ROBIO.2007.4522293

    Active knee-lock release for passive-dynamic walking machines. / Trifonov, Kalin; Hashimoto, Shuji.

    2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. 2008. p. 958-963 4522293.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Trifonov, K & Hashimoto, S 2008, Active knee-lock release for passive-dynamic walking machines. in 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO., 4522293, pp. 958-963, 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, Yalong Bay, Sanya, 07/12/15. https://doi.org/10.1109/ROBIO.2007.4522293
    Trifonov K, Hashimoto S. Active knee-lock release for passive-dynamic walking machines. In 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. 2008. p. 958-963. 4522293 https://doi.org/10.1109/ROBIO.2007.4522293
    Trifonov, Kalin ; Hashimoto, Shuji. / Active knee-lock release for passive-dynamic walking machines. 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. 2008. pp. 958-963
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