Relevant bibliographies by topics / Passive dynamic walker

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Passive dynamic walker'

Author: Grafiati
Published: 4 June 2021
Last updated: 13 February 2022

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Journal articles on the topic "Passive dynamic walker"

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Deng, Ka, Mingguo Zhao, and Wenli Xu. "Passive Dynamic Walking with a Torso Coupled via Torsional Springs." International Journal of Humanoid Robotics 14, no. 01 (March 2017): 1650024. http://dx.doi.org/10.1142/s0219843616500249.

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The passive dynamic walker is well known for its success in human mimicry; however, the torso, an important part of humans and human-like biped robot, is usually ignored in the model. In this paper, a fully passive torso is coupled to the passive dynamic walker via two hip torsional springs. The performances of the walker are studied by means of numerical simulation, and the benefits brought by the torso are revealed. Comparisons with the walker without a torso are performed. On a regular slope, the gait's existence and specifications are studied with respect to the slope angle and the spring coefficient. An interesting dynamical phenomenon of having two stable walking cycles is observed, and the differences between them are presented via a parametric study. The ranges of stable walking slopes and gait performances are significantly improved. On an irregular slope, the disturbance rejection ability (DRA) is measured for three types of disturbances. The slope range of stable gait with strong DRA is significantly extended. The walker with a torso is more flexible by adjusting the slope angle, the spring coefficient and its initial state. The unique properties of our model can be utilized to design humanoid robots and walking enhancing equipment.
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FUJIMOTO, Hideo, Akihito SANO, and Nobumasa TAKEUCHI. "523 Dynamic Walking Control on Passive Walker-Environment." Proceedings of Conference of Tokai Branch 2000.49 (2000): 299–300. http://dx.doi.org/10.1299/jsmetokai.2000.49.299.

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Russell, S., K. P. Granata, and P. Sheth. "Virtual Slope Control of a Forward Dynamic Bipedal Walker." Journal of Biomechanical Engineering 127, no. 1 (February 1, 2005): 114–22. http://dx.doi.org/10.1115/1.1835358.

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Active joint torques are the primary source of power and control in dynamic walking motion. However the amplitude, rate, timing and phasic behavior of the joint torques necessary to achieve a natural and stable performance are difficult to establish. The goal of this study was to demonstrate the feasibility and stable behavior of an actively controlled bipedal walking simulation wherein the natural system dynamics were preserved by an active, nonlinear, state-feedback controller patterned after passive downhill walking. A two degree-of-freedom, forward-dynamic simulation was implemented with active joint torques applied at the hip joints and stance leg ankle. Kinematic trajectories produced by the active walker were similar to passive dynamic walking with active joint torques influenced by prescribed walking velocity. The control resulted in stable steady-state gait patterns, i.e. eigenvalue magnitudes of the stride function were less than one. The controller coefficient analogous to the virtual slope was modified to successfully control average walking velocity. Furture developments are necessary to expand the range of walking velocities.
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YAMADA, Shinya, and Masatsugu IRIBE. "Legged walker using the principle of Passive Dynamic Walking." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020 (2020): 2A2—L09. http://dx.doi.org/10.1299/jsmermd.2020.2a2-l09.

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WU, Q., and J. CHEN. "EFFECTS OF RAMP ANGLE AND MASS DISTRIBUTIONS ON PASSIVE DYNAMIC GAIT — AN EXPERIMENTAL STUDY." International Journal of Humanoid Robotics 07, no. 01 (March 2010): 55–72. http://dx.doi.org/10.1142/s0219843610002052.

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A bipedal walking mechanism with knees is designed and built to study the passive dynamic gait. The effects of changing the ramp angle and the mass distributions of the thighs and the shanks on the gait patterns and walking robustness are studied. It is shown that the changes in the ramp angle and the mass distribution have significant effects on the step lengths and the robustness (the successful rate of launching and the step-count) of the passive gait. More specifically, as the ramp angle increases or the mass center of the entire walker is raised, the step length increases, which dictates the walking speed. However, our experiments show that the changes in the ramp angle and the mass distribution have slight effects on the step period. The optimal ramp angle and mass distribution of the passive walker are also identified, of which the passive walker has the highest successful rate of launching and the step-count. Our experimental results are compared with previous work based on simulations. This research can provide important information for validating/adjusting mathematical models of passive dynamic walking. The work also enables us to gain a better understanding of the mechanics of walking.
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Wisse, M., A. L. Schwab, and F. C. T. van der Helm. "Passive dynamic walking model with upper body." Robotica 22, no. 6 (November 2004): 681–88. http://dx.doi.org/10.1017/s0263574704000475.

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This paper presents the simplest walking model with an upper body. The model is a passive dynamic walker, i.e. it walks down a slope without motor input or control. The upper body is confined to the midway angle of the two legs. With this kinematic constraint, the model has only two degrees of freedom. The model achieves surprisingly successful walking results: it can handle disturbances of 8% of the initial conditions and it has a specific resistance of only 0.0725(−).
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Moon, Jae-Sung, Seong-Min Lee, Joonbum Bae, and Youngil Youm. "Analysis of period-1 passive limit cycles for flexible walking of a biped with knees and point feet." Robotica 34, no. 11 (March 13, 2015): 2486–98. http://dx.doi.org/10.1017/s0263574715000144.

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SUMMARYIn this paper, we investigate dynamic walking as a convergence to the system's own limit cycles, not to artificially generated trajectories, which is one of the lessons in the concept of passive dynamic walking. For flexible walking, gait transitions can be performed by moving from one limit cycle to another one, and thus, the flexibility depends on the range in which limit cycles exist. To design a bipedal walker based on this approach, we explore period-1 passive limit cycles formed by natural dynamics and analyze them. We use a biped model with knees and point feet to perform numerical simulations by changing the center of mass locations of the legs. As a result, we obtain mass distributions for the maximum flexibility, which can be attained from very limited location sets. We discuss the effect of parameter variations on passive dynamic walking and how to improve robot design by analyzing walking performance. Finally, we present a practical application to a real bipedal walker, designed to exhibit more flexible walking based on this study.
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Liu, Limei, and Yantao Tian. "Switch Control between Different Speeds for a Passive Dynamic Walker." International Journal of Advanced Robotic Systems 9, no. 6 (January 2012): 241. http://dx.doi.org/10.5772/53733.

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URA, Daisuke, Yasuhiro SUGIMOTO, Yuichiro SUEOKA, and Koichi OSUKA. "Stability analysis for Passive Dynamic Walker with Physical Parameter Changing." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017 (2017): 2P2—I05. http://dx.doi.org/10.1299/jsmermd.2017.2p2-i05.

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Hanazawa, Yuta, and Masaki Yamakita. "High-Efficient Biped Walking Based on Flat-Footed Passive Dynamic Walking with Mechanical Impedance at Ankles." Journal of Robotics and Mechatronics 24, no. 3 (June 20, 2012): 498–506. http://dx.doi.org/10.20965/jrm.2012.p0498.

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In this paper, we present novel biped walking based on flat-footed Passive Dynamic Walking (PDW) with mechanical impedance at the ankles. To realize biped robot achieving high-efficient walking, PDW has attracted attention. Recently, flat-footed passive dynamic walkers with mechanical impedance at the ankles have been proposed. We show that this passive walker achieves fast, energy-efficient walking using ankle springs and inerters. For this reason, we propose novel biped walking control that mimics PDW to realize biped robots achieving fast, energy-efficient walking on level ground. First, we design a flat-footed biped robot that achieves fast, energy-efficient PDW. To achieve walking based on PDW, the biped robot then takes advantage of a virtual gravitational field that is generated by actuators. The biped robot also pushes off with the foot in the double-support phase to restore energy. By walking simulation, we show that a flat-footed biped robot achieves fast, energy-efficient walking on level ground by the proposed method.
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Dissertations / Theses on the topic "Passive dynamic walker"

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Sushko, John. "Asymmetric Passive Dynamic Walker Used to Examine Gait Rehabilitation Methods." Scholar Commons, 2011. http://scholarcommons.usf.edu/etd/3373.

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Testing gait rehabilitation devices on humans can be a difficult task, due to the effects of the neurological controls of the human body. This thesis advances the use of a passive dynamic walker (PDW) tuned to have asymmetric gait patterns similar to those with physical impairments to test rehabilitation devices. A passive dynamic walker is a multipendulum system that has a stable gait pattern when walking down a slope without any energy inputs except the forces due to gravity. A PDW model is better suited for testing rehabilitation devices because it has been shown to resemble human gait and separates the human neurological controls from the purely dynamic aspects of walking. This research uses different asymmetric gait patterns based on an asymmetric PDW to aid in the design of current and future rehabilitation methods. There are four major parts to this research: (1) the derivation of the current nine mass PDW model, (2) the effects of changing the moment of inertia and center of mass on each leg, (3) the effects of having a leg that is longer than the other and adding masses on the opposite leg to generate a symmetric gait, and (4) the design of a theoretical prosthesis that will break the assumption that the knee on the prosthetic leg should be in the same location as the intact leg. The result of changing the moment of inertia and center of mass on each leg in the nine mass model showed that it is an improvement over the previously used five mass model. This is because the five mass model forces the center of mass to change with the moment of inertia, while the nine mass model allows these to be changed independently of each other. A theoretical prosthesis has been developed in this research that is is significantly lighter while maintaining a symmetric gait. This was accomplished by moving the knee of the prosthetic limb below the location of the intact knee.
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Hatzitheodorou, Philip Andrew. "An Experimental Study on Passive Dynamic Walking." Scholar Commons, 2015. https://scholarcommons.usf.edu/etd/5498.

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In this study, a previously designed passive dynamic walker (PDW) is built out of aluminum and plastic. The aim of the study was to produce an asymmetrical PDW and to compare the results to a computer simulation to validate the mathematical model. It also aimed at identifying the limitations of using additive manufacturing to create components for a PDW as well as gain insights on asymmetric systems. Beginning with a five mass kneed model, parameters were varied to produce up to a nine mass kneed model solution. The nine mass model allows more variability in added mass locations and separates the zeroth, first, and second moments of inertia. To validate asymmetric gait, step length and step time of the prototype were compared to the simulation. The walker, unable to produce a steady gait, failed to match the asymmetric simulation. More than four times the amount of symmetric data was found compared to asymmetric data. Successful runs of symmetric gaits were approximately double than for asymmetric gaits. The reason for unequal successes is thought to be due to greater instability of asymmetric systems. This instability is thought to be due to inertia from a constant state of hanging motion. 3D printing proved useful in simplifying components and reducing waste but the polymers used did not have enough strength when mass was added to the system. Joining differing materials on the legs was difficult to keep in place. A smaller more robust design could solve these problems. This study focused on understanding physically asymmetric PDWs. These simple robots separate the neurological and mechanical controls of walking and are advantageous for studying physical parameters of human gait. Once a reliable asymmetric walker is built, further research could alter the foot shape or knee location to reverse the process, thus having a PDW walk symmetric. Once a walker is successfully reverted from walking asymmetrical to symmetrical, these parameters could be then applied to human subjects. An example of this would be for prosthetic foot design.
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Honeycutt, Craig Alan. "Utilizing a Computational Model for the Design of a Passive Dynamic Walker." Scholar Commons, 2011. http://scholarcommons.usf.edu/etd/3152.

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Recent interest in using passive dynamic walkers (PDWs) for gait rehabilitation studies has presented a need for a robust, easily built mechanism. Unfortunately, these passive robots are hypersensitive to many variables outside of the usual design considerations that are studied when constructing them. By accentuating previous failures instead of suppressing them, this thesis presents a number of problematic situations commonly experienced when testing and tuning a PDW. Further, through a complete design of a 4-legged PDW with knees, simple design axioms brought about by myself and others are put into a practical context and applied directly to design. This thesis aspires to present a systematic design process, and highlight how a computational model can be used with both hand calculations and CAD packages. Using the insight from those researchers before me, I strive to further their designs and present relevant information in a design compendium that makes it more useful to those who have an application for the device. This thesis resulted in two novel designs for a PDW. First, a changing radius foot was developed to increase knee flexion upon toe off. The decrease in radius increases joint angular velocity resulting in ramp up. Further investigation of these feet could result in more stable and efficient walking patterns. The other design brought to attention is the planar crossbar mechanism for coupling the inner and outer legs. The crossbar provides a rigid coupling without changing the rotational inertia between the coupled pair about the hip axis.
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Baines, Andrew Griffin. "Knee design for a bipedal walking robot based on a passive-dynamic walker." Thesis, Massachusetts Institute of Technology, 2005. http://hdl.handle.net/1721.1/32883.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.
Includes bibliographical references (leaf 30).
Passive-dynamic walkers are a class of robots that can walk down a ramp stably without actuators or control due to the mechanical dynamics of the robot. Using a passive-dynamic design as the basis for a powered robot helps to simplify the control problem and maximize energy efficiency compared to the traditional joint-angle control strategy. This thesis outlines the design of a knee for the robot known as Toddler, a passive-dynamic based powered walker built at the Massachusetts Institute of Technology. An actuator at the knee allows the robot to bend and straighten the leg, but a clutch mechanism allows the actuator to completely disengage so that the leg can swing freely. The clutch operates by using a motor to rotate a lead screw which engages or disengages a set of spur gears. Control of the knee is accomplished by utilizing the robot's sensors to determine whether or not the knee should be engaged. The engagement signal is then fed through a simple motor control circuit which controls the motor that turns the lead screw. The knee design was successfully implemented on Toddler but more work is required in order to optimize his walking. In order to study the dynamics of walking with knees, we also built a copy of McGeer's original passive walker with knees.
by Andrew Griffin Baines.
S.B.
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Reynolds, Arlis (Arlis A. ). "Design and control of a clutch for a minimally-actuated biped based on the passive-dynamic simple walker." Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/36710.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.
Includes bibliographical references (leaf 41).
Passive-dynamic walking robots are remarkable mechanical devices capable of maintaining dynamically stable walking gaits with no actuation or control. These systems, however, depend on ideal environmental conditions for stability. Robustness and control capabilities are increased with actuation, but so is the power consumption. Such actuated robots are designed to minimize the actuation requirement by exploiting the system natural dynamics system, but still need actuation to compensate for energy dissipated by friction and collision events, as well as for more control capabilities. A simple clutch mechanism is developed for such systems to allow intermittent control of otherwise passive joints, allowing controllers to exploit the passive or actuated control when desired. The clutch is tested on a hip actuated simple 3D walker to evaluate the performance capabilities of clutched control. Preliminary tests of several control strategies suggest the clutched actuation may provide good performance at a higher efficiency compared to fully actuated systems. This paper describes the development of the clutch device and the hip-actuated biped on with which the clutch is tested, and evaluates the performance of intermittent clutch-control for several control strategies.
by Arlis Reynolds.
S.B.
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Cuozzo, Azzurra. "Confronto tra camminatori passivi e pattern di cammino umano alle diverse età: efficienza energetica e maturazione del controllo motorio." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2017.

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In questo lavoro di tesi si voleva valutare il confronto tra camminatori passivi ed il pattern del cammino umano a differenti età. La scelta di tale confronto è legata all’efficienza energetica riscontrata e nei dispositivi presi in esame e nella deambulazione umana. È stata fatta prima una revisione della letteratura sulla biomeccanica del cammino umano in particolare sulla sua efficienza energetica e sul suo cambiamento in relazione all’età ed una revisione della letteratura sui camminatori passivi e sui modelli ingegneristici affini. A valle della revisione sui modelli dei camminatori passivi, è stato selezionato il modello di interesse. A tale modello sono state poi apportate le modifiche del caso per poter poi confrontare l’andamento dell’accelerazione del centro di massa del camminatore passivo in direzione antero-posteriore e in direzione verticale con i dati sperimentali. Il protocollo sperimentale ha visto partecipare quindici soggetti per ogni categoria,differenziata in relazione all’età,ovvero sei anni, otto anni, dieci anni, quindici anni e venticinque anni. I risultati preliminari in direzione antero-posteriore hanno mostrato una correlazione forte per i giovani adulti, una correlazione moderata per i bambini. I coefficienti di correlazione tendono ad aumentare, fatta eccezione per gli adolescenti che mostrano una piccola deflessione. Il valore del p-value ottenuto non mostra un effetto statisticamente significativo sui valori di correlazione in relazione all'età. In direzione verticale i risultati hanno mostrato un andamento quasi costante dei coefficienti di correlazione per i soggetti compresa tra i sei e i dieci anni, oltre il quale vi è una crescita dei coefficienti di correlazione. Il p-value in questa direzione mostra un effetto significativo dell’età nella correlazione tra modello e segnale sperimentale. La maturazione dei soggetti li ha portati ad una maggiore efficienza.
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Muratagic, Haris. "Passive Symmetry in Dynamic Systems and Walking." Scholar Commons, 2015. http://scholarcommons.usf.edu/etd/5998.

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The ubiquitous nature of symmetry lends itself to be taken for granted, however the breath of research on symmetry encompasses several disciplines. In engineering, studies centered on symmetry often address issues in dynamic systems theory, robotics, and gait rehabilitation. This thesis presents findings on two specific topics dealing with passively induced symmetry; dissimilar rotating systems and human gait. Past studies on passive symmetry in dynamic systems often incorporate physical coupling or a controller. This thesis presents a technique to passively induce symmetry between two dissimilar systems that are not physically connected. This work also presents a human gait study consisting of several elements that merge to provide a unique look at how walking symmetry and altered physical parameters (leg length and added weight) of the lower limbs are related. One aspect of this thesis shows the successful development of a general method to induce synchronization between any two dissimilar, uncoupled, rotating systems given the same degrees of freedom, initial angular dynamics, and applied torque. This method is validated with a simulation and subsequent comparison with two physical experiments. The results are in agreement, with slight variations due to the friction and damping of the physical systems. This is further expanded to include the induced symmetry of two systems that experience an external collision. Due to the highly non-linear nature of such systems, an analytical solution was not found; instead a numerical solution is presented that resulted in partial symmetry between systems. The gait study demonstrated that weighted walking and altered leg length have both independent and combined spatio-temporal effects on lower limb symmetry. While altered leg length alone resulted in higher gait asymmetry, the combination of the two physical changes increases this asymmetry to affect the same limb. This study also showed that cognitive and physically distracted walking does not have an added effect to the gait symmetry with passive physical changes. In addition, this study was able to demonstrate that the arm swinging that occurs during natural walking does not significantly alter spatial or temporal gait parameters.
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Shannon, Colleen Elizabeth. "Recurrent Gait of Anthropomorphic, Bipedal Walkers." Thesis, Virginia Tech, 2003. http://hdl.handle.net/10919/33322.

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This thesis explores the dynamics of two bipedal, passive-walker models that are free to move in a three-dimensional environment. Specifically, two rigid-bodied walkers that can sustain anthropomorphic gait down an inclined plane with gravity being the only source of energy were studied using standard dynamical systems methods. This includes calculating the stability of periodic orbits and varying the system parameter to create bifurcation diagrams and to address the persistence of a periodic solution under specific parameter variations. These periodic orbits are found by implementing the Newton-Raphson root solving scheme. The dynamical systems associated with these periodic orbits are not completely smooth. Instead, they include discontinuities, such as those produced due to forces at foot contact points and during knee hyper-extension. These discontinuities are addressed in the stability calculations through appropriate discontinuity mappings. The difference between the two walker models is the number of degrees of freedom (DOF) at the hip. Humans possess three DOF at each hip joint, one DOF at each knee joint, and at least two DOF at each ankle joint. The first walker model studied had revolute joints at the hips and knees and completely locked ankles. To make the walking motion more anthropomorphic, additional degrees of freedom were added to the hip. Specifically, the second walker model has ball joints at the hips. Two control algorithms are used for controlling the local stability of periodic motions for both walker models. The methods, reference and delay feedback control, rely on the presence of discontinuities in the system. Moreover, it is possible to predict the effects of the control strategy based entirely on information from the uncontrolled system. Control is applied to both passive walker models to try and stabilize an unstable periodic gait by making small, discrete, changes in the foot orientation during gait. Results show that both methods are successful in stabilizing an unstable walking motion for a 3D model with one DOF in each hip and to reduce the instability of the walking motions for the model having more mobility in the hip joints.
Master of Science
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Qin, Zhanming. "Vibration and Aeroelasticity of Advanced Aircraft Wings Modeled as Thin-Walled Beams--Dynamics, Stability and Control." Diss., Virginia Tech, 2001. http://hdl.handle.net/10919/29283.

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Based on a refined analytical anisotropic thin-walled beam model, aeroelastic instability, dynamic aeroelastic response, active/passive aeroelastic control of advanced aircraft wings modeled as thin-walled beams are systematically addressed. The refined thin-walled beam model is based on an existing framework of the thin-walled beam model and a couple of non-classical effects that are usually also important are incorporated and the model herein developed is validated against the available experimental, Finite Element Anaylsis (FEA), Dynamic Finite Element (DFE), and other analytical predictions. The concept of indicial functions is used to develop unsteady aerodynamic model, which broadly encompasses the cases of incompressible, compressible subsonic, compressible supersonic and hypersonic flows. State-space conversion of the indicial function based unsteady aerodynamic model is also developed. Based on the piezoelectric material technology, a worst case control strategy based on the minimax theory towards the control of aeroelastic systems is further developed. Shunt damping within the aeroelastic tailoring environment is also investigated. The major part of this dissertation is organized in the form of self-contained chapters, each of which corresponds to a paper that has been or will be submitted to a journal for publication. In order to fullfil the requirement of having a continuous presentation of the topics, each chapter starts with the purely structural models and is gradually integrated with the involved interactive field disciplines.
Ph. D.
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De, Bacco Caterina. "Decentralized network control, optimization and random walks on networks." Thesis, Paris 11, 2015. http://www.theses.fr/2015PA112164/document.

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Dans les dernières années, plusieurs problèmes ont été étudiés à l'interface entre la physique statistique et l'informatique. La raison étant que, souvent, ces problèmes peuvent être réinterprétés dans le langage de la physique des systèmes désordonnés, où un grand nombre de variables interagit à travers champs locales qui dépendent de l'état du quartier environnant. Parmi les nombreuses applications de l'optimisation combinatoire le routage optimal sur les réseaux de communication est l'objet de la première partie de la thèse. Nous allons exploiter la méthode de la cavité pour formuler des algorithmes efficaces de type ‘’message-passing’’ et donc résoudre plusieurs variantes du problème grâce à sa mise en œuvre numérique. Dans un deuxième temps, nous allons décrire un modèle pour approcher la version dynamique de la méthode de la cavité, ce qui permet de diminuer la complexité du problème de l'exponentielle de polynôme dans le temps. Ceci sera obtenu en utilisant le formalisme de ‘’Matrix Product State’’ de la mécanique quantique.Un autre sujet qui a suscité beaucoup d'intérêt en physique statistique de processus dynamiques est la marche aléatoire sur les réseaux. La théorie a été développée depuis de nombreuses années dans le cas que la topologie dessous est un réseau de dimension d. Au contraire le cas des réseaux aléatoires a été abordé que dans la dernière décennie, laissant de nombreuses questions encore ouvertes pour obtenir des réponses. Démêler plusieurs aspects de ce thème fera l'objet de la deuxième partie de la thèse. En particulier, nous allons étudier le nombre moyen de sites distincts visités au cours d'une marche aléatoire et caractériser son comportement en fonction de la topologie du graphe. Enfin, nous allons aborder les événements rares statistiques associées aux marches aléatoires sur les réseaux en utilisant le ‘’Large deviations formalism’’. Deux types de transitions de phase dynamiques vont se poser à partir de simulations numériques. Nous allons conclure décrivant les principaux résultats d'une œuvre indépendante développée dans le cadre de la physique hors de l'équilibre. Un système résoluble en deux particules browniens entouré par un bain thermique sera étudiée fournissant des détails sur une interaction à médiation par du bain résultant de la présence du bain
In the last years several problems been studied at the interface between statistical physics and computer science. The reason being that often these problems can be reinterpreted in the language of physics of disordered systems, where a big number of variables interacts through local fields dependent on the state of the surrounding neighborhood. Among the numerous applications of combinatorial optimisation the optimal routing on communication networks is the subject of the first part of the thesis. We will exploit the cavity method to formulate efficient algorithms of type message-passing and thus solve several variants of the problem through its numerical implementation. At a second stage, we will describe a model to approximate the dynamic version of the cavity method, which allows to decrease the complexity of the problem from exponential to polynomial in time. This will be obtained by using the Matrix Product State formalism of quantum mechanics. Another topic that has attracted much interest in statistical physics of dynamic processes is the random walk on networks. The theory has been developed since many years in the case the underneath topology is a d-dimensional lattice. On the contrary the case of random networks has been tackled only in the past decade, leaving many questions still open for answers. Unravelling several aspects of this topic will be the subject of the second part of the thesis. In particular we will study the average number of distinct sites visited during a random walk and characterize its behaviour as a function of the graph topology. Finally, we will address the rare events statistics associated to random walks on networks by using the large-deviations formalism. Two types of dynamic phase transitions will arise from numerical simulations, unveiling important aspects of these problems. We will conclude outlining the main results of an independent work developed in the context of out-of-equilibrium physics. A solvable system made of two Brownian particles surrounded by a thermal bath will be studied providing details about a bath-mediated interaction arising for the presence of the bath
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Book chapters on the topic "Passive dynamic walker"

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Roa, M. A., C. A. Villegas, and R. E. Ramírez. "Extensive Modeling of a 3 DOF Passive Dynamic Walker." In Climbing and Walking Robots, 349–56. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_42.

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Zhang, Peijie, Yantao Tian, and Zhenze Liu. "Gait Analysis of the Passive Dynamic Walker with Knees." In Intelligent Robotics and Applications, 992–1002. Berlin, Heidelberg: Springer Berlin Heidelberg, 2008. http://dx.doi.org/10.1007/978-3-540-88513-9_106.

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Cao, Heng, Yu Wang, Jun Zhu, and Zhengyang Ling. "Dynamic Simulation of Passive Walker Based on Virtual Gravity Theory." In Intelligent Robotics and Applications, 1237–45. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-10817-4_124.

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Yokoi, Hiroshi, and Kojiro Matsushita. "Self-regulatory Hardware: Evolutionary Design for Mechanical Passivity on a Pseudo Passive Dynamic Walker." In Artificial Life Models in Hardware, 87–102. London: Springer London, 2009. http://dx.doi.org/10.1007/978-1-84882-530-7_5.

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Zhang, Peijie, Yantao Tian, Zhenze Liu, Shufan Yang, and Rong Tian. "Further Research and Comparison of Gaits for Compass-Like Biped and Kneed Passive Dynamic Walker." In Intelligent Robotics and Applications, 1216–26. Berlin, Heidelberg: Springer Berlin Heidelberg, 2008. http://dx.doi.org/10.1007/978-3-540-88513-9_129.

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Asano, Fumihiko, Yanqiu Zheng, and Longchuan Li. "Modeling and Motion Analysis of Planar Passive-Dynamic Walker with Tensegrity Structure Formed by Four Limbs andEight Viscoelastic Elements." In Robotics for Sustainable Future, 242–54. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-86294-7_21.

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"The Evolution of Control and Adaptation in a 3D Powered Passive Dynamic Walker." In Artificial Life IX. The MIT Press, 2004. http://dx.doi.org/10.7551/mitpress/1429.003.0024.

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Li, Longchuan, Isao T. Tokuda, Fumihiko Asano, and Cong Yan. "Nonlinear Analysis and Control of Quasi-passive Dynamic Walker Based on Entrainment Effect." In World Scientific Series on Nonlinear Science Series B, 514–30. WORLD SCIENTIFIC, 2021. http://dx.doi.org/10.1142/9789811221903_0018.

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Hirata, Yasuhisa, Asami Muraki, and Kazuhiro Kosuge. "Passive-type Intelligent Walker Controlled Based on Caster-like Dynamics." In Rehabilitation Robotics. I-Tech Education and Publishing, 2007. http://dx.doi.org/10.5772/5161.

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Matsushita, Kojiro, and Hiroshi Yokoi. "Embodiment of Legged Robots Emerged in Evolutionary Design: Pseudo Passive Dynamic Walkers." In Frontiers in Evolutionary Robotics. I-Tech Education and Publishing, 2008. http://dx.doi.org/10.5772/5461.

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Conference papers on the topic "Passive dynamic walker"

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Honeycutt, C., J. Sushko, and K. B. Reed. "Asymmetric passive dynamic walker." In 2011 IEEE 12th International Conference on Rehabilitation Robotics: Reaching Users & the Community (ICORR 2011). IEEE, 2011. http://dx.doi.org/10.1109/icorr.2011.5975465.

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Tedrake, R., T. W. Zhang, Ming-fai Fong, and H. S. Seung. "Actuating a simple 3D passive dynamic walker." In IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. IEEE, 2004. http://dx.doi.org/10.1109/robot.2004.1302452.

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Haueisen, Brooke, Greg Hudas, Greg Hulbert, and Kyle Nebel. "Initial conditions of a simple passive-dynamic walker." In Defense and Security Symposium, edited by Grant R. Gerhart, Charles M. Shoemaker, and Douglas W. Gage. SPIE, 2006. http://dx.doi.org/10.1117/12.666075.

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Takuma, Takashi, and Koh Hosoda. "Controlling walking behavior of passive dynamic walker utilizing passive joint compliance." In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2007. http://dx.doi.org/10.1109/iros.2007.4399348.

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Sushko, John, Craig Honeycutt, and Kyle B. Reed. "Prosthesis design based on an asymmetric passive dynamic walker." In 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2012). IEEE, 2012. http://dx.doi.org/10.1109/biorob.2012.6290293.

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Li, Jianfei, Yantao Tian, Xiaoliang Huang, Hongshuai Chen, and Limei Liu. "Torque shaping control for initial unstable passive dynamic walker." In 2010 International Conference on Information and Automation (ICIA). IEEE, 2010. http://dx.doi.org/10.1109/icinfa.2010.5512474.

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Hu, Biao, and Mingguo Zhao. "The optimization of spring stiffness for passive dynamic walker." In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012). IEEE, 2012. http://dx.doi.org/10.1109/iros.2012.6385541.

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Koop, Derek, and Christine Q. Wu. "Development of an Advanced Model of Passive Dynamic Biped Walking." In ASME 2013 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/dscc2013-3820.

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Abstract:
Passive dynamic walking is a manner of walking developed, partially or in whole, by the energy provided by gravity. Studying passive dynamic walking provides insight into human walking and is an invaluable tool for designing energy efficient biped robots. The objective of this research was to develop a continuous mathematical model of passive dynamic walking, in which the Hunt-Crossley contact model and the LuGre friction model were used to represent the normal and tangential ground reactions. A physical passive walker was built to validate the proposed mathematical model. A traditional impact-based passive walking model was also used as a reference to demonstrate the advancement of the proposed passive dynamic walking model. The simulated gait of the proposed model matched the gait of the physical passive walker exceptionally well, both in trend and magnitude.
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KINUGASA, T., H. KOMATSUBARA, K. YOSHIDA, S. FUJIMOTO, M. IRIBE, and K. OSUKA. "PASSIVE DYNAMIC QUADRUPED WALKER WITH FLAT FEET AND ANKLE SPRINGS." In Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. WORLD SCIENTIFIC, 2011. http://dx.doi.org/10.1142/9789814374286_0061.

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Artemiadis, Panagiotis K., and Hermano Igo Krebs. "Impedance-Based Control of the MIT-Skywalker." In ASME 2010 Dynamic Systems and Control Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/dscc2010-4186.

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Walking impairments are a common sequela of neurological injury, severely affecting the quality of life of both adults and children. Gait therapy is the traditional approach to ameliorate the problem by re-training the nervous system and there have been some attempts to mechanize such approach. In this paper, we present a novel impedance controller for the MIT-Skywalker. In contrast to previous approaches in mechanized gait therapy, the MIT-Skywalker does not impose a rigid kinematics pattern of normal gait on impaired walkers. Instead, it takes advantage of the concept of passive walkers and the natural dynamics of the lower extremity in order to deliver more “ecological” therapy. The proposed closed-loop control scheme can regulate the interaction between the walker and the treadmill and can provide the appropriate feedback to the walker during stance phase as well as at heel-strike and toe-off. Simulation results prove the feasibility of the impedance-based control scheme.
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