Bifurcation and chaotic for an asymmetric kneed passive dynamic walker

Haihu Wang; QiShao Wang; Wei Dong; Chuanming Liu; Wenqing Hong; Yuanni Gong; QingYun Wang

doi:10.1117/12.3011214

1 December 2023 Bifurcation and chaotic for an asymmetric kneed passive dynamic walker

Haihu Wang, QiShao Wang, Wei Dong, Chuanming Liu, Wenqing Hong, Yuanni Gong, QingYun Wang

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 129400S (2023) https://doi.org/10.1117/12.3011214
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

In this paper, we propose a dynamic model of an asymmetric passive walker with the knee joint. The stable initial conditions of the dynamic model are obtained by the cell mapping method. We analyze how the length ratio of the left and right legs of the walker (the left and right leg mass and the moment of inertia change along with the length of the leg) and the angle of the ramp influence the gait characteristics of the walker, such as the length of step, gait cycle, and walking speed of the model. Based on the existing researches, if there is a very small asymmetry difference, the walker will have a double-step gait. When the leg length difference reaches a certain level, a four-level gait will appear, and as the leg length ratio continues to change, eight times and sixteen times will continue to be shown out, which in turn evolves into a chaotic gait.. If the proportion of leg length exceeds an upper bound, a stable passive walking gait will no longer be found. According to the study on the asymmetric passive walker, this research can not only guide the design and manufacture of a driven biped robot but also be used for clinical-pathological asymmetric gait treatment, exoskeleton assist device development, prosthetic design, and prosthetic adaptability training to provide theoretical guidance.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Haihu Wang, QiShao Wang, Wei Dong, Chuanming Liu, Wenqing Hong, Yuanni Gong, and QingYun Wang "Bifurcation and chaotic for an asymmetric kneed passive dynamic walker", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 129400S (1 December 2023); https://doi.org/10.1117/12.3011214

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KEYWORDS

Gait analysis

Matrices

Design and modelling

Pendulums

Angular momentum

Numerical simulations

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