DYNAMIC ANALYSIS OF THE PLAIN BIPED WALKING MECHANISM TAKING INTO ACCOUNT THE ELASTICITY OF LINKS AND JOINTS
MACHINE SIENCE
Keywords:
bipedal locomotion, seven bar plane mechanism, dynamic analysis, elasticity of links and joints, Lagrangian method, Gibbs-Appell method.
Abstract
A seven bar plane mechanism for dynamic analysis of human bipedal locomotion is considered. In order to provide the walking gait fluency and velocity changes with minimal energy consumption the link and joint elasticity is taken into account. The two methods (Lagrangian and Gibbs-Appell) of dynamic modeling are proposed. Significant deviations of dynamic analysis results with and without consideration of elasticity are revealed and it is shown that in contrast to the Lagrangian method, the application of the Gibbs-Appell method requires simplier calculations. The necessity of biped locomotion is shown.
