

	Mechanics På svenska

Project

Human and machine locomotion

Research Area:

Theoretical and computational mechanics

Project Members:

Adolfsson, J.

Dankowicz, H.

Lennartsson, A.

Nordmark, A.

Piiroinen, P T

Sponsor:

SSF, TFR, Volvo Research Foundation

Project Description

The inherent dynamics of a bipedal, kneed mechanism are studied with particular emphasis on the existence of stable three-dimensional gait in the absence of external, actively regulated, control. Suitable modifications of geometry and mass distributions are suggested to afford implementation of walking in complicated and potentially changing terrain. Originating in the pioneering work by McGeer and others, the approach is based on the assumption that satisfactory walking motion under actuation can be achieved more efficiently once the mechanism`s natural dynamics have been accounted for. Thus, the need for actuation is minimized by controlling the system about a motion dynamically achievable by the passive system, rather than imposing a behavior far from such a motion.

Publications related to the project

Year	Title
2002	Breaking Symmetries and Constraints: Transitions from 2D to 3D in Passive Walkers Multibody System Dynamics (Accepted)
2002	Low-velocity Impacts of Quasi-periodic Oscillations Chaos, Solitons & Fractals 14 2 (Published)
2002	Exploiting discontinuities for stabilization of recurrent motions Dynamics and Stability of Systems (Accepted)
2002	Low-cost Control of Repetetive Gait in Passive Bipedal Walkers International Journal of bifurcation and chaos . (Submitted)
2001	On a Normal-Form Analysis for a Class of Passive Bipedal Walkers Int J. of bifurcation and Chaos 11(9) 2411-2425 (Published)
2001	Grazing Bifurcation of Initially Quasi-periodic System Attractors Proceedings of 18th Biennial Conference on Mechanical Vibration and Noise. (Published)
2001	Modeling Gait Pathologies Using Insight from Passive, Anthropomorphic, Bipedal Walkers Multibody Dynamics in Sweden II 4 pages (Published)
2000	Repetitive Gait of Passive Bipedal Mechanisms in a Three-Dimensional Environment J. Biomech. Eng (Accepted)
1999	3D Passive Walkers: Finding Periodic Gaits in the presence of Discontinuities Nonlinear Dynamics (Accepted)

Internal Reports related to the project

Year	Title	Document Type
2002	Recurrent Dynamics of Nonsmooth Systems with Application to Human Gait	Doctoral thesis
2001	Passive Control of Mechanical Systems: Bipedal Walking and Autobalancing	Doctoral thesis
2000	Passive Walking: Transition from 2D to 3D	Licentiate thesis