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simpwm simulates the “Simplest Walking Model” passive dynamic walker for eight steps with a default slope, gam, of 0.01 radians.
fullwm simulates the full dynamics of a compass gait passive dynamic walker for eight steps with a default slope, gam, of 0.01 radians and a ratio of foot-to-hip mass, B, of 0.01.
actuwm simulates the “Simplest Walking Model” passive dynamic walker powered by toe-off impulse and a spring-like torque at hip for eight steps with a default slope, gam, of 0 radians.
wmview(y,gam,tci) animates the passive dynamic data in y for slope angle gam and collision indices tci.
References
- M. Garcia, A. Chatterjee, A. Ruina, and M. Coleman, “The Simplest Walking Model: Stability, Complexity, and Scaling,” ASME Journal of Biomedical Engineering, Vol. 120, No. 2, pp. 281–288, 1998. [http://dx.doi.org/10.1115/1.2798313]
- M.W. Gomes “A Derivation of the Transisition Rule at Heelstrike which appears in the paper ‘The Simplest Walking Model: Stability, Complexity, and Scaling’ by Garcia et al.,” ONLINE, pp. 1–3, Oct. 4, 1999. [PDF]
- A.D. Kuo “Energetics of Actively Powered Locomotion Using the Simplest Walking Model,” ASME Journal of Biomedical Engineering, Vol. 124, No. 1, pp. 113–120, 2002. [http://dx.doi.org/10.1115/1.1427703]
Andrew D. Horchler, horchler @ gmail . com, biorobots.case.edu
Created: 7-7-04, Revision: 1.1, 5-1-16
This version tested with Matlab 9.0.0.341360 (R2016a)
Mac OS X 10.11.4 (Build: 15E65), Java 1.7.0_75-b13
Compatibility maintained back through Matlab 8.5 (R2015a)
Copyright © 2004–2017, Andrew D. Horchler
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