An efficient and low cost 3D compass gait biped an economical platform for control system development
Ashton, John A.
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A compass gait biped is a theoretical model of a human that is physically walking. The compass gait model is a 2D planer representation that simplifies the calculations required to mathematically describe the human walking gait. The model assumes stability in the sagitial plane and also ignores any ‘foot’ contact with the ground plane other than the time assigned and positionally assigned Plant-Foot. This thesis starts at and expands from the 2D compass gait model, firstly to a 3D computer simulated model and secondly to a physical and operational 3D model. The computer simulation is to provide proof of feasibility, demonstrate that it will be physically operational, and to document its’ probable power requirements. The models’ purpose is to provide a platform for a control system, such that the control system can control the 3D model with a resulting human-like walking gait. The requirements for the 3D model/control system platform are that it is efficient and extremely economical. It must be very simple to fabricate consisting primarily of common ‘off the shelf’ parts and it must also be scaleable. The completed 3D simulation model provided torque data, natural frequency data, and operational proofing that enabled a virtual straightforward fabrication of the physical model. The completed physical model walks in a manner that is a near mirror image of the simulated model. It provides a working human gait simulation that can be easily controlled by an onboard control system and that by design requires minimal control.
Thesis (M.S.)--Wichita State University, College of Engineering, Dept. of Mechanical Engineering.