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Dynamic Stability of Passive bipedal walking on Rough Terrain： A Preliminary Simulation Study

Journal of Bionic Engineering 2012年第4期9卷 423-433页

作者： Parsa Nassiri Afshar Lei Ren School of Mechanical Aerospace and Civil Engineering University of Manchester Manchester M13 9PL UK Key Laboratory of Bionic Engineering (Ministry of Education China) Jilin University Changehun 130022 P.R. China

A simplified 2D passive dynamic model was simulated to walk down on a rough slope surface defined by deterministic profiles to investigate how the walking stability changes with increasing surface roughness. Our results show that the passive walker can walk on rough surfaces subject to surface roughness up to approximately 0.1% of its leg length. This indicates that bipedal walkers based on passive dynamics may possess some intrinsic stability to adapt to rough terrains although the maxi- mum roughness they can tolerate is small. Orbital stability method was used to quantify the walking stability before the walker started to fall over, It was found that the average maximum Floquet multiplier increases with surface roughness in a non-linear form. Although the passive walker remained orbitally stable for all the simulation cases, the results suggest that the possibility of the bipedal model moving away from its limit cycle increases with the surface roughness if subjected to additional perturbations. The number of consecutive steps before falling was used to measure the walking stability after the passive walker started to fall over. The results show that the number of steps before falling decreases exponentially with the increase in surface roughness. When the roughness magnitude approached to 0.73% of the walker＇s leg length, it fell down to the ground as soon as it entered into the uneven terrain. It was also found that shifting the phase angle of the surface profile has apparent affect on the system stability. This is probably because point contact was used to simulate the heel strikes and the resulted variations in system states at heel strikes may have pronounced impact on the passive gaits, which have narrow basins of attraction. These results would provide insight into how the dynamic stability of passive bipedal walkers evolves with increasing surface roughness.

关键词： bipedal walking rough terrain dynamic stability human locomotion

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Computational Models to Synthesize Human walking

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Journal of Bionic Engineering 2006年第3期3卷 127-138页

作者： Lei Ren David Howard Laurence Kenney Structure and Motion Laboratory The Royal Veterinary College University of London North Mymms Hatfield AL9 7TA UK Centre for Rehabilitation and Human Performance Research University of Salford Salford M5 4WT UK

The synthesis of human walking is of great interest in biomechanics and biomimetic engineering due to its predictive capabilities and potential applications in clinical biomechanics, rehabilitation engineering and biomimetic robotics. In this paper, the various methods that have been used to synthesize humanwalking are reviewed from an engineering viewpoint. This involves a wide spectrum of approaches, from simple passive walking theories to large-scale computational models integrating the nervous, muscular and skeletal systems. These methods are roughly categorized under four headings： models inspired by the concept of a CPG （Central Pattern Generator）, methods based on the principles of control engineering, predictive gait simulation using optimisation, and models inspired by passive walking theory. The shortcomings and advantages of these methods are examined, and future directions are discussed in the context of providing insights into the neural control objectives driving gait and improving the stability of the predicted gaits. Future advancements are likely to be motivated by improved understanding of neural control strategies and the subtle complexities of the musculoskeletal system during human locomotion. It is only a matter of time before predictive gait models become a practical and valuable tool in clinical diagnosis, rehabilitation engineering and robotics.

关键词： predictive gait modelling human walking bipedal walking

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