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Stabilization of Lateral Motion in Passive Dynamic Walking
Open accessAbstract
Passive dynamic walking refers to a class of bipedal machines that are able to walk down a gentle slope with no external control or energy input. The legs swing naturally as pendula, and conservation of angular momentum governs the contact of the swing foot with the ground. Previous machines have been limited to planar motions. We extend the planar motions to allow for tilting side to side (roll motion). Passive walking cycles exist, but the roll motion is unstable, resembling that of an inverted pendulum. The instability is due to mismatching of roll velocity with the ground contact conditions. Several strategies are presented for stabilizing this motion, of which the quasi-static control of step width is determined to be both simple and efficient.
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Citations
Cited by
Active control of lateral balance in human walking
Bauby, C. E., & Kuo, A. D. (2000) · Journal of Biomechanics · doi:10.1016/s0021-9290(00)00101-9 · Cited by 851
Self-citationEnergetic Consequences of Walking Like an Inverted Pendulum: Step-to-Step Transitions
Kuo, A. D., Donelan, J. M., & Ruina, A. (2005) · Exercise and Sport Sciences Reviews · doi:10.1097/00003677-200504000-00006 · Cited by 675
Self-citationDonelan, J. M., Kram, R., & Kuo, A. D. (2002) · Journal of Experimental Biology · doi:10.1242/jeb.205.23.3717 · Cited by 670
Self-citationMechanical and metabolic determinants of the preferred step width in human walking
Maxwell Donelan, J., Kram, R., & Arthur D., K. (2001) · Proceedings of the Royal Society of London. Series B: Biological Sciences · doi:10.1098/rspb.2001.1761 · Cited by 552
Mechanical and metabolic requirements for active lateral stabilization in human walking
Donelan, J. M., Shipman, D. W., Kram, R., & Kuo, A. D. (2004) · Journal of Biomechanics · doi:10.1016/j.jbiomech.2003.06.002 · Cited by 490
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Metadata
- Authors
- Kuo, A. D.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1999-09
- Volume
- 18
- Issue
- 9
- Pages
- 917-930
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2065942939
- Cited by
- 650
- References
- 0
- FWCI
- 7.01
- Type
- journal article
- Language
- en
- Open access
- green
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- Kuo, A. D. (1999). Stabilization of Lateral Motion in Passive Dynamic Walking. The International Journal of Robotics Research. https://doi.org/10.1177/02783649922066655
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
