Numerical analysis of ZMP based biped walking model with different stiffness of ankle and toe joint

Abstract

Natural walking has large needs in many ways, for example, amputees that lost their lower limb. Amputees cannot walk well with their conventional prosthesis because of lack of muscle. This causes not suitable motion of ankle and toe joint during their walking. To walk naturally like normal people, actuation of muscle is needed because this generates variable joint stiffness of ankle and toe joints. Joint stiffness, which is the most important component that can control the position of foot and toe during walking. Repeatedly, with joint stiffness change, the movement of human body during walking can be changed in form of natural walking like normal people. In this study, the change of whole body movement during walking through walking direction will be dealt with ZMP based biped walking model. In the condition of fixed joint angle change, joint torque change can be dealt with only the change of joint stiffness. Also in terms of acceleration of human body can be changed when varied torque is considered. Finally, by variation of acceleration term, the movement of human body is changed similar to real human motion. ⓒ 2016 DGIST