Physical Sciences and Mathematics Commons^™

Dynamics, Stability, And Actuation Methods For Powered Compass Gait Walkers, Koray Kadi̇r Şafak

Turkish Journal of Electrical Engineering and Computer Sciences

In this paper, methods to achieve actively powered walking on level ground using a simple 2-dimensional walking model (compass-gait walker) are explored. The walker consists of 2 massless legs connected at the hip joint, a point mass at the hip, and an infinitesimal point mass at the feet. The walker is actuated either by applying equal joint torques at the hip and ankle, by an impulse applied at the toe off, immediately before the heel strike, or by the combination of both. It is shown that actuating the walker by equal joint torques at the hip and ankle on level …