File Download
There are no files associated with this item.
SFX Link
- Find it @ UNIST can give you direct access to the published full text of this article. (UNISTARs only)
- Bae, Joonbum
- Bio-robotics and Control Lab.
Views & Downloads
Detailed Information
Cited time in 
Cited time in 
Cited time in
Metadata Downloads
Gait optimization and energetics of ballistic walking for an underactuated biped with knees
- Author(s)
- Moon, Jae-Sung, Bae, Joonbum
- Issued Date
- 2016-08
- Citation
- NONLINEAR DYNAMICS, v.85, no.3, pp.1533 - 1546
- Abstract
- In this paper, we study gait optimization of ballistic walking in order to understand the natural dynamics of an underactuated biped with knees. We also propose applications for our understandings. Our optimization problem is solved by fixing energy levels, and then, we attempt to explain how optimal gaits are formed by examining the role of each joint in speeding up. In addition, we explain some natural characteristics of walking. Based on the results, we propose a new cost function to generate various walking gaits, including the optimum. Finally, we evaluate and discuss the energy efficiency of our ballistic walker and other bipedal walkers including humans.
- Publisher
- SPRINGER
- ISSN
- 0924-090X
- Keyword (Author)
- Ballistic walking, Biped with knees, Energetics, Gait optimization, Natural dynamics, Passive dynamic walking
Items in Repository are protected by copyright, with all rights reserved, unless otherwise indicated.