Abstract
Ostriches are the fastest of all bipedal walking animals, with a knee joint that bends in the opposite direction to the human knee. We investigate the various gaits of a bipedal model of an ostrich, developed according to the notion of passive dynamic walking, and compare them with the walking gaits of a human model. In particular, by controlling the model, we can identify relationships between the leg angles, the walking speed, the trajectory of foot points and the energy consumption. Numerical experiments show that the angle of touching the ground is closer to the vertical for the ostrich model than for the human model, which can be better for high-speed walking.
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© 2012 Springer-Verlag Berlin Heidelberg
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Yamamoto, H., Naruse, K. (2012). Control of an Ostrich-Like Knee Joint for a Biped Robot Based on Passive Dynamic Walking. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7508. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33503-7_11
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DOI: https://doi.org/10.1007/978-3-642-33503-7_11
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33502-0
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