Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Mechanical Engineering
Effects Of Hip And Ankle Moments On Running Stability: Simulation Of A Simplified Model, Rubin C. Cholera
Effects Of Hip And Ankle Moments On Running Stability: Simulation Of A Simplified Model, Rubin C. Cholera
Open Access Theses
In human running, the ankle, knee, and hip moments are known to play different roles to influence the dynamics of locomotion. A recent study of hip moments and several hip-based legged robots have revealed that hip actuation can significantly improve the stability of locomotion, whether controlled or uncontrolled. Ankle moments are expected to also significantly affect running stability, but in a different way than hip moments. Here we seek to advance the current theory of dynamic running and associated legged robots by determining how simple open-loop ankle moments could affect running stability. We simulate a dynamical model, and compare it …
A Novel Three Degree-Of-Freedoms Oscillation System Of Insect Flapping Wings, Yi Qin
A Novel Three Degree-Of-Freedoms Oscillation System Of Insect Flapping Wings, Yi Qin
Open Access Theses
We propose an oscillation system to replicate the dynamic behavior of flapping wings, inspired by insect flight muscles. In particular, we study the flight of the fruit fly Drosophila virilis . We model the wing as a rigid body with three degree-of-freedom, described by three Euler angles: the stroke angle, the rotation angle and the deviation angle. Insect flight muscles are separated into two types: power muscles and control muscles. One actuator and one torsional spring at the stroke angle act as the power muscles. Two torsional springs at the rotation angle and the deviation angle mimic the control muscles. …