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hip friction

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1 results

A passive dynamic walking model with Coulomb friction at the hip joint
Wenhao Guo, Tianshu Wang, Qi Wang
Journal:

Robotica / Volume 31 / Issue 8 / December 2013

Published online by Cambridge University Press:

23 May 2013, pp. 1221-1227
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This paper presents a modified passive dynamic walking model with hip friction. We add Coulomb friction to the hip joint of a two-dimensional straight-legged passive dynamic walker. The walking map is divided into two parts – the swing phase and the impact phase. Coulomb friction and impact make the model's dynamic equations nonlinear and non-smooth, and a numerical algorithm is given to deal with this model. We study the effects of hip friction on gait and obtain basins of attraction of different coefficients of friction.